Method for reconstructing a three-dimensional surface of an object

ABSTRACT

Method for determining a disparity value of a disparity of each of a plurality of points on an object, the method including the procedures of detecting by a single image detector, a first image of the object through a first aperture, and a second image of the object through a second aperture, correcting the distortion of the first image, and the distortion of the second image, by applying an image distortion correction model to the first image and to the second image, respectively, thereby producing a first distortion-corrected image and a second distortion-corrected image, respectively, for each of a plurality of pixels in at least a portion of the first distortion-corrected image representing a selected one of the points, identifying a matching pixel in the second distortion-corrected image, and determining the disparity value according to the coordinates of each of the pixels and of the respective matching pixel.

FIELD OF THE DISCLOSED TECHNIQUE

The disclosed technique relates to stereo vision algorithms in general,and to methods for reconstructing a three-dimensional surface of anobject, in particular.

BACKGROUND OF THE DISCLOSED TECHNIQUE

A viewer gains a strong sense of depth by fusing the images recorded bythe two eyes, and exploiting the difference (i.e., disparity) betweenthese two images. Each eye detects a different image of an object,because the two eyes are separated by a certain distance (i.e.,interpupilar distance—IPD), and furthermore, each eye observes theobject from a different viewing point. The brain provides a stereoscopicperception to the viewer, by processing the two images detected by thetwo eyes. The ability of the brain to provide this stereoscopicperception decreases as the ratio between the IPD and the distancebetween the viewer and the object decreases, such that beyond a certaindistance (i.e., about 600 meters) the viewer is unable to perceive thedepth in the object.

Since the eyes of the viewer are separated along a horizontal line,there is a disparity between the two images along this horizontal line.The brain provides a perception of depth of a certain point of theobject, according to the disparity associated with this point. Opticaldevices for providing stereoscopic perception are known in the art. Suchdevices include two image detectors, a display, and a processorconnected to the image detectors and to the display. Since the imagedetectors are separated by a certain amount, each detects a differentimage of an object, from a different viewing point. The processorpolarizes the right image and the left image at different polarizationstates, and provides these two polarized images to the display, for thedisplay to display these two images side by side.

If a viewer wears a stereoscopic pair of glasses having two polarizersof the appropriates polarization states, the right eye detects only theright image displayed by the display, and the left eye only the leftone, and in this manner the viewer gains a stereoscopic perception. Thisoptical device is employed in medical devices for performing minimallyinvasive surgery (MIS), such as an endoscope, to provide the viewer astereoscopic perception of an image of the inner wall of an organ (e.g.,colon). The processor determines the depth of every point of the currentimage of the organ, according to the disparity associated with thatpoint, and in case of a tumor in the colon, determines the volume of thetumor according to the depth data.

Reference is now made to FIG. 1, which is a schematic illustration of anoptical device for providing a stereoscopic perception of an image of anobject, generally referenced 50, as known in the art. Optical device 50includes two lenses 52 and 54, two charge-coupled devices (CCD) 56 and58, a processor 60 and a display 62. Processor 60 is connected withCCD's 56 and 58 and with display 62. Lenses 52 and 54 are located infront of CCD's 56 and 58, respectively. An object 64 is located in frontof lenses 52 and 54. Each of the CCD's 56 and 58 is located behindlenses 52 and 54, respectively, at a focal length f respective of lenses52 and 54.

The distance between object 64 and each of the lenses 52 and 54, in adirection parallel to an optical axis (not shown) respective of each oflenses 52 and 54, is referenced Z (i.e., depth). CCD's 56 and 58 receivelight beams 66 and 68, respectively, from a point 70 on object 64,through lenses 52 and 54, respectively. Light beams 66 and 68 strikeCCD's 56 and 58, respectively, to form projections 72 and 74 of point70, respectively.

Projection 74 of point 70 on CCD 58 is represented by a projection 76 ofthe same point 70, on CCD 56. The distance between projections 72 and 76of point 70 on CCD 56, along an epipolar line (not shown) on CCD 56, isreferenced δ (i.e., disparity). Processor 60 determines the values of δrespective of different points on object 64, by processing the twoimages (not shown) detected by CCD's 56 and 58. Processor 60 determinesthe depth Z of each of these points, according to the respective valueof δ. Processor 60 produces a right image and a left image polarized atdifferent polarization states, for display 62 to display the rightpolarized image and the left polarized image. A viewer who wears astereoscopic pair of glasses having a pair of appropriate polarizers,gains a stereoscopic perception, when viewing the display. When theviewer selects a point on the image by clicking the point by a mouse,processor 60 determines the depth of that point according to thedisparity associated with that point, and display 62 displays the valueof that depth.

U.S. Pat. No. 6,411,327 B1 issued to Kweon et al., and entitled “StereoCamera System for Obtaining a Stereo Image of an Object, and System andMethod for Measuring Distance Between the Stereo Camera System and theObject Using the Stereo Image”, is directed to a system for producing astereo image and determining a disparity between the stereo images. Thesystem includes a camera and a biprism. The camera is in form of a CCD.The biprism is in shape of a delta having a first incline, a secondincline and a flat edge. The biprism is placed between an object and thecamera, such that the first incline and the second incline obliquelyface a lens of the camera. Furthermore, an edge of the biprism at whichthe first incline and the second incline meet, passes through an opticalaxis of the lens.

A real point located in front of the flat edge corresponds to a firstimaginary point. A first distance between the real point and the firstimaginary point along a plane parallel with the flat edge, depends on adistance between the real point and a center of the biprism, and on afirst displacement angle of the biprism. The real point also correspondsto a second imaginary point, where a second distance there between alongthe plane, depends on the distance between the real point and the centerof the biprism, and on a second displacement angle of the biprism.

The real point corresponds to the first imaginary point and to thesecond imaginary point, and in a frame of picture obtained in a singleexposure, two images (i.e., stereo images) of the object are produced. Athird distance (i.e., disparity), between two homologous points in thestereo images corresponding to the real point, is proportional to a sumof the first distance and the second distance. An object distancebetween the system and the object can be calculated from the thirddistance.

U.S. Pat. No. 6,624,935 B2 issued to Weissman et al., and entitled“Single-axis Stereoscopic Video Imaging System with CenteringCapability”, is directed to a system for producing a stereoscopic imageof an object. The system includes an imaging device, a single-axisoptical system and an electronic shutter. The electronic shutter islocated between the single-axis optical system and the imaging device.

When controlled by an appropriate electronic signal, the electronicshutter alternately blocks light transmission through each side of anappropriate aperture of the single-axis optical system. A right-eyeimage is generated when a left side of the electronic shutter blockslight transmission, and a left-eye image is generated when a right sideof the electronic shutter blocks light transmission.

SUMMARY OF THE DISCLOSED TECHNIQUE

It is an object of the disclosed technique to provide a novel method fordetermining the disparity of a plurality of points on an object,according to a stereoscopic color image pair of that object.

In accordance with an aspect of the disclosed technique, there is thusprovided a method for determining the disparity of each of a pluralityof points on an object. The method includes the procedure of detectingby a single image detector, a first image of the object through a firstaperture, and a second image of the object through a second aperture.The method further includes the procedure of correcting the distortionof the first image, and the distortion of the second image, by applyingan image distortion correction model to the first image and to thesecond image, respectively, thereby producing a firstdistortion-corrected image and a second distortion-corrected image,respectively. The method further includes the procedures of identifyinga matching pixel in the second distortion-corrected image, for each of aplurality of pixels in at least a portion of the firstdistortion-corrected image, said pixels representing a selected one ofthe points, and determining the disparity according to coordinates ofeach of the pixels and the respective the matching pixel.

In accordance with another aspect of the disclosed technique, there isthus provided a method for determining a disparity of a point on anobject being detected by at least one image detector, according to astereoscopic color image pair of the object, the point being representedby a plurality of pixels in each image of the stereoscopic color imagepair. The method includes the procedures of producing a first set ofdistortion-corrected color images respective of each of a plurality ofcolors of the image detector, producing a second set ofdistortion-corrected color images respective of the colors, andproducing a set of modified images.

The method further includes the procedures of determining a distancerange between the object and the image detector, and determining adisparity range respective of the stereoscopic color image pair,according to the distance range. The method further includes theprocedures of defining a window of a predetermined size around an actualpixel in each of the distortion-corrected color images of the first setof distortion-corrected color images, and defining a plurality ofwindows around a plurality of central pixels in each of the modifiedimages.

The method further includes the procedures of determining a plurality ofcolor intensity distribution differences between the color intensitydistribution of the window and each of the windows, and selecting aminimum color intensity distribution difference among the colorintensity distribution differences. The method further includes theprocedures of selecting a central pixel among the central pixels, as apixel which matches the actual pixel, and determining the disparityaccording to a difference between the coordinates of the actual pixeland of the selected central pixel.

The first set of distortion-corrected color images is produced byapplying an image distortion correction model to a first distorted imageamong the stereoscopic color image pair. The second set ofdistortion-corrected color images is produced by applying the imagedistortion correction model to a second distorted image among thestereoscopic color image pair. The modified images are produced bydetermining at least one interpolated pixel between every two adjacentactual pixels in each row of each of the distortion-corrected colorimages of the second set of distortion-corrected color images. The sizeof each of the windows is the same as the predetermined size. Thecentral pixels have the same row indices respective of the row of theactual pixel, and a plurality of column indices within the disparityrange from the column index of the actual pixel. The central pixelcorresponds to a selected window among the windows, wherein the selectedwindow corresponds to the minimum color intensity distributiondifference.

In accordance with a further aspect of the disclosed technique, there isthus provided a method for determining a disparity of a point on anobject being detected by at least one image detector, according to astereoscopic color image pair of the object, the point being representedby a plurality of pixels in each image of the stereoscopic color imagepair. The method includes the procedures of producing a first set ofdistortion-corrected color images respective of each of a plurality ofcolors of the image detector, producing a second set ofdistortion-corrected color images respective of the colors, and applyinga first filter to each of the distortion-corrected color images in thefirst set and in the second set.

The method further includes the procedures of producing a set ofmodified images, determining a distance range between the object and theimage detector, and determining a disparity range respective of thestereoscopic color image pair, according to the distance range. Themethod further includes the procedures of defining a window of apredetermined size around an actual pixel in each of thedistortion-corrected color images of the first set ofdistortion-corrected color images, and defining a plurality of windowsaround a plurality of central pixels in each of the modified images.

The method further includes the procedures of determining a linearfunction of an absolute value of vectorial gradients, of anotherabsolute value of vectorial gradient differences, and of the absolutevalue of the difference between color image intensities, respective ofthe window and of respective ones of each of the windows. The methodfurther includes the procedures of selecting a minimum value among thelinear functions, selecting a central pixel among the central pixels, asa pixel which matches the actual pixel, and determining the disparityaccording to a difference between the coordinates of the actual pixeland of the selected central pixel.

The first set of distortion-corrected color images is produced byapplying an image distortion correction model to a first distorted imageamong the stereoscopic color image pair. The second set ofdistortion-corrected color images is produced by applying the imagedistortion correction model to a second distorted image among thestereoscopic color image pair. The set of modified images is produced bydetermining at least one interpolated pixel between every two adjacentactual pixels in each row of each of the filtered distortion-correctedcolor images of the second set of distortion-corrected color images. Thesize of each of the windows is the same as the predetermined size. Thecentral pixels have the same row indices respective of the row of theactual pixel, and a plurality of column indices within the disparityrange from the column index of the actual pixel. The central pixelcorresponds to a selected window among the windows, wherein the selectedwindow corresponds to the selected minimum value.

In accordance with another aspect of the disclosed technique, there isthus provided a method for determining a center of distortion of a firstdistorted image and a second distorted image of a target. The methodincludes the procedures of determining two-dimensional coordinates of aplurality of known points of the target, in the first distorted imageand in the second distorted image, and correcting two-dimensionallocations of the two-dimensional coordinates, in the first distortedimage and in the second distorted image.

The method further includes the procedures of determining a firsttransformation model and a second transformation model, determining afirst set of calculated points and a second set of calculated points,and determining a first set of distorted calculated points and a secondset of distorted calculated points. The method further includes theprocedures of determining a first set of distances between respectivepoints in the first distorted image and in the first set of distortedcalculated points, and determining a second set of distances betweenrespective points in the second distorted image and in the second set ofdistorted calculated points. The method further includes the procedureof selecting one of the auxiliary centers as the center of distortion,wherein the auxiliary center corresponds to a minimum characteristicvalue respective of the first set of distances and the second set ofdistances.

The two-dimensional locations of the two-dimensional coordinates, in thefirst distorted image and in the second distorted image, are correctedaccording to an image distortion correction model, whose origin isselected as an image detector center. The first transformation model andthe second transformation model are determined, according to respectiveones of the corrected two-dimensional locations, and according tothree-dimensional coordinates of the known points.

The first set of calculated points and the second set of calculatedpoints are determined, by applying the first transformation model andthe second transformation model, respectively, to the three-dimensionalcoordinates. The first set of distorted calculated points and the secondset of distorted calculated points are determined, by applying an imagedistortion model to the first set of calculated points and to the secondset of calculated points, respectively, about a set of auxiliary centersdifferent than the image detector center.

In accordance with a further aspect of the disclosed technique, there isthus provided an image distortion correction model for correcting animage distortion in a first distorted image, and in a second distortedimage of a stereoscopic image pair of an object being detected by anoptical device. The image distortion correction model is defined by,

f_(c)^(X)(X, Y) = a₀₀ + a₀₁x^(′) + a₂₀x^(′2) + a₃₀x^(′3) + a₅₀x^(′5) + a₀₂y^(′2) + a₁₂x^(′)y^(′2) + a₂₂x^(′2)y^(′2) + a₃₂x^(′3)y^(′2) + a₅₂x^(′5)y^(′2)

in a horizontal direction, and by,

f_(c)^(Y)(X, Y) = c₀₁y^(′) + c₁₁x^(′)y^(′) + c₂₁x^(′2)y^(′) + c₃₀y^(′3) + c₁₃x^(′)y^(′3) + +c₂₃x^(′2)y^(′3) + c₀₅y^(′5) + c₁₅x^(′)y^(′5) + c₂₅x^(′2)y^(′5)

in a vertical direction, wherein x′ is defined by,

$x^{\prime} = \frac{\left( {x - x_{0}} \right)}{x_{\max}}$

and y′ is defined by,

$y^{\prime} = \frac{\left( {y - y_{0}} \right)}{y_{\max}}$

x and y are the indices of a current pixel in each of the firstdistorted image and the second distorted image. x₀ and y₀ define acenter of distortion of the first distorted image and of the seconddistorted image. x_(max) is a distance along the horizontal direction,between a center of a substantially rectangular undistorted calculatedimage and a side of the substantially rectangular undistorted calculatedimage. The substantially rectangular undistorted calculated image isrespective of the optical device. y_(max) is another distance along thevertical direction, between the center and another side of thesubstantially rectangular undistorted calculated image.

The parameters a₀₀, a₀₁, a₂₀, a₃₀, a₅₀, a₀₂, a₁₂, a₂₂, a₃₂, a₅₂, c₀₁,c₁₁, c₂₁, c₃₀, c₁₃, c₂₃, c₀₅, c₁₅ and c₂₅ are a set of coefficientswhich are determined by solving a set of simultaneous Equations for aset of points, wherein each point has the indices x and y, and thepoints are respective of a target being detected by the optical device.The coordinates of these points are known in a global coordinate system.

f_(c) ^(X)(X,Y) designates a horizontal distortion of a point amongthese points, the horizontal distortion being along the horizontaldirection. f_(c) ^(Y)(X,Y) designates a vertical distortion of the pointalong the vertical direction. For determining this set of coefficients,x₀ and y₀ are set to an image center of the substantially rectangularundistorted calculated image.

In accordance with another aspect of the disclosed technique, there isthus provided a method for providing a stereoscopic perception of ascene for a user, such that the vision associated complexionsexperienced by the user are minimized. The method includes theprocedures of determining a shift between a pair of stereoscopic imagesto be displayed to the user, receiving another pair of stereoscopicimages shifted relative to one another by a current shift, shifting theother pair of stereoscopic images by the difference between thedetermined shift and the current shift, and displaying the other pair ofshifted stereoscopic images. The shift is associated with stereoscopicviewing characteristics of the user. The other pair of stereoscopicimages is respective of the scene.

In accordance with a further aspect of the disclosed technique, there isthus provided a method for varying a local disparity between each depthplane pair of each of a plurality of depth plane pairs. Each depth planeof the depth plane pairs defines the depth of a given set of pixels in afirst image and a second image of a stereoscopic image pair of anobject, relative to an image detector detecting the stereoscopic imagepair. The method includes the procedures of determining a pixel depthfor each of the pixels, in the first image and in the second image, froma three-dimensional reconstruction of a volume represented by thestereoscopic image pair, and determining a plurality of depth planes ata plurality of different plane depths, for the first image and thesecond image.

The method further includes the procedures of associating each of thedepth planes from the first image, with a corresponding depth plane fromthe second image, at the same plane depth, thereby determining aplurality of depth plane pairs, and associating each of the pixels witha respective one of the depth plane pairs, according to a respective oneof the pixel depths, and according to a respective one of the planedepths. The method includes a further procedure of varying the localdisparity by moving every pair of the depth plane pairs, relative to oneanother, in a direction substantially perpendicular to a line of sightrespective of a respective one of the eyes of an observer. Each of thedepth planes is substantially perpendicular to a respective line ofsight.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosed technique will be understood and appreciated more fullyfrom the following detailed description taken in conjunction with thedrawings in which:

FIG. 1 is a schematic illustration of an optical device for providing astereoscopic perception of an image of an object, as known in the art;

FIG. 2 is a schematic illustration of an optical device for providing astereoscopic perception of an image of an object, constructed andoperative in accordance with an embodiment of the disclosed technique;

FIG. 3 is a schematic illustration of a plot of the variation ofdistance of an object from the image detector of the optical device ofFIG. 2, as a function of the disparity between a right image and a leftimage of the object;

FIG. 4 is a schematic illustration of a method for determining thedisparity of a pair of matching pixels in a right image and a left imageof an object, operative in accordance with another embodiment of thedisclosed technique;

FIG. 5A is a schematic illustration of a right distorted image and aleft distorted image of an object, detected by the image detector of theoptical device of FIG. 2;

FIG. 5B is a schematic illustration of a right distortion-correctedimage and a left distortion-corrected image of the right distorted imageand the left distorted image of FIG. 5A, respectively;

FIG. 5C is a schematic illustration of a pixel in the leftdistortion-corrected image of FIG. 5B, being matched to another pixel inthe right distortion-corrected image of FIG. 5B;

FIG. 5D is a schematic illustration of the color composition of theimage detector of FIG. 2, and the four virtual images which theprocessor of the optical device of FIG. 2 produces for one of the rightor left images of an object;

FIG. 5E is a schematic illustration of the virtual images which theprocessor of the optical device of FIG. 2 produces, according to a rightimage and a left image detected by the image detector of the opticaldevice, and according to the color mosaic filters on the image detector;

FIG. 5F is a schematic illustration of a window including a plurality ofactual pixels and interpolated pixels in the left distortion-correctedimage of FIG. 5C, in order to perform a cross correlation with anotherwindow in the right distortion-corrected image of FIG. 5C, whichincludes a plurality of only actual pixels;

FIG. 6 is a schematic illustration of a method for determining a centerof distortion of a first distorted image and a second distorted imagerespective of an optical device, operative in accordance with a furtherembodiment of the disclosed technique;

FIG. 7 is a schematic illustration of the relative positions of theimage of a point on a target, on a normalized image plane, and on aphysical retina image plane;

FIG. 8 is a schematic illustration of the target of FIG. 7, which isemployed to determine the center of distortion according to the methodof FIG. 6;

FIG. 9 is a schematic illustration of an image detector, detecting animage of the target of FIG. 8;

FIG. 10A is a schematic illustration of a first distorted image of thetarget of FIG. 8, being detected by the image detector of FIG. 9;

FIG. 10B is a schematic illustration of a second distorted image of thetarget of FIG. 8, being detected by the image detector of FIG. 9;

FIG. 11A is a schematic illustration of corrected locations of thedetected points of the first distorted image of FIG. 10A;

FIG. 11B is a schematic illustration of corrected locations of thedetected points of the second distorted image of FIG. 10B;

FIG. 12A is a schematic illustration of a first set of calculatedpoints, obtained by applying a first transformation model to thethree-dimensional coordinates of the points of the target of FIG. 8;

FIG. 12B is a schematic illustration of a second set of calculatedpoints, obtained by applying a second transformation model to thethree-dimensional coordinates of the points of the target of FIG. 8;

FIG. 13A is a schematic illustration of a first set of distortedcalculated points, respective of the points of the target of FIG. 8;

FIG. 13B is a schematic illustration of a second set of distortedcalculated points, respective of the points of the target of FIG. 8;

FIG. 14A is a schematic illustration of the distances between the pointsof the first distorted image of FIG. 10A, and the first set of distortedcalculated points of FIG. 13A;

FIG. 14B is a schematic illustration of the distances between the pointsof the second distorted image of FIG. 10B, and the second set ofdistorted calculated points of FIG. 13B; and

FIG. 15 is a schematic illustration of a method for providing astereoscopic perception of a scene for a user, such that the visionassociated complexions experienced by the user are minimized, operativein accordance with another embodiment of the disclosed technique.

FIG. 16A is a schematic illustration of a first set of depth plans of afirst view image of a stereoscopic image pair of an object observed by afirst eye of an observer;

FIG. 16B is a schematic illustration of a second set of depth plans of asecond view image of the stereoscopic image pair, observed by a secondeye of the observer;

FIG. 17A is a schematic illustration of the depth planes of the firstset of depth planes of FIG. 16A, displaced in a first direction relativea first line of sight of the first eye, constructed and operativeaccording to a further embodiment of the disclosed technique;

FIG. 17B is a schematic illustration of the depth planes of the secondset of depth planes of FIG. 16B, displaced in a second direction,relative to a second line of sight of the second eye, constructed andoperative according to another embodiment of the disclosed technique;and

FIG. 18, is a schematic illustration of a method for varying the localdisparity between each of a plurality of depth plane pairs, wherein eachdepth plane defines the depth of a given set of pixels in a given imageof a stereoscopic image pair of an object, the method being operativeaccording to a further embodiment of the disclosed technique.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The disclosed technique overcomes the disadvantages of the prior art byproviding methods to determine the disparity of a certain point on anobject in a pair of stereoscopic color images of the object. Accordingto a first method, the disparity at which the color intensitydistribution difference between a window in a right image of the pair ofimages, and a plurality of windows in a left image, is a minimum, isselected as the disparity of that point. According to a second method,the disparity of a point on the object is determined, by determining andselecting a minimum of a certain function, which relates a pixelrepresentative of that point, in the right image, to a matching pixel inthe left image. This function is a linear function of the absolutevalues of the vectorial gradient of a pixel in the right image, and of apixel in the left image, of the vectorial gradient difference betweenthe pixel in the right image and of the pixel in the left image, and ofthe difference between the color image intensity of the pixel in theright image, and of the pixel in the left image. The depth value ofevery point on the object can be determined according to the respectivedisparity value, and superposed on an image of the object which isdisplayed on a display.

Each method takes into account the different colors of the color mosaicof an image detector. Furthermore, each method takes into account aplurality of interpolated pixels determined between every two adjacentpixels, thereby increasing the accuracy of the disparity value. Thedisparity values are determined for pairs of distortion-corrected colorimages, thereby obtaining a more accurate disparity value than in thecase of distorted color image pairs. The disclosed technique provides amethod for determining an image distortion correction model, and amethod for determining the center of distortion for the right image andthe left image. The distortions in each of the right image and leftimage are corrected about this center of distortion, before determiningthe disparity value.

The term “3D coordinate system” herein below, refers to athree-dimensional coordinate system respective of an object. The term“2D coordinate system” herein below, refers to a two-dimensionalcoordinate system respective of an image of the object. The term“disparity” herein below, refers to a difference between the coordinatesof projections of a point on the object, in a right image of the objectand a left image thereof.

Reference is now made to FIGS. 2 and 3. FIG. 2 is a schematicillustration of an optical device for providing a stereoscopicperception of an image of an object, constructed and operative inaccordance with an embodiment of the disclosed technique. FIG. 3 is aschematic illustration of a plot of the variation of distance of anobject from the image detector of the optical device of FIG. 2, as afunction of the disparity between a right image and a left image of theobject of FIG. 2, described by a curve generally referenced 146.

Optical device 100 includes apertures 102 and 104, an image detector, aprocessor 108, a display 110 and a user interface 112. Processor 108 iscoupled with the image detector, display 110 and with user interface112.

Apertures 102 and 104 in combination with an optical assembly (notshown) are schematically represented by an optical assembly principleplane 148, located between a zero disparity object plane 118 and a zerodisparity image plane 106. A near object (not shown) can be located on anear object plane 114 located between zero disparity object plane 118and optical assembly principle plane 148. A far object (not shown) canbe located on a far object plane (not shown) located in front of zerodisparity object plane 118. Each of zero disparity object plane 118, thenear object plane and the far object plane, is representative of atwo-dimensional section of an object (not shown).

An image of a point of near object plane 114 on a near object imageplane 120 has substantially a zero disparity. An image of a point of thefar object plane on a far object image plane (not shown) hassubstantially a zero disparity. An image detector (not shown) is locatedon a zero disparity image plane 106 located behind optical assemblyprinciple plane 148. Near object image plane 120 is located behind zerodisparity image plane 106. The far object image plane is located betweenoptical assembly principle plane 148 and zero disparity image plane 106.

An image of a point of zero disparity object plane 118 on zero disparityimage plane 106 (i.e., the point image detected by the image detector),has substantially a zero disparity. An image of a point of near objectplane 114 on zero disparity image plane 106, has a near object planedisparity value. An image of a point of the far object plane on zerodisparity image plane 106, has a far object plane disparity value, whosevalue is opposite to that of the near object plane disparity value. Forexample, if a point image of the near object on zero disparity imageplane 106 has a disparity of plus 5 pixels, another point image of thefar object on zero disparity image plane 106, can have a disparity ofminus 3 pixels.

Each of apertures 102 and 104 is in form of a substantially roundpinhole. The image detector can be a charge-coupled device (CCD),complementary metal-oxide semiconductor (CMOS), and the like. Userinterface 112 can be a pointing device (e.g., a mouse, stylus andtablet), keyboard, and the like.

An optical axis of apertures 102 and 104 and the optical assembly isreferenced 116. Optical assembly principle plane 148 is substantiallyperpendicular to optical axis 116. Apertures 102 and 104 are locatedsubstantially symmetrically about optical axis 116. A distance betweenthe centers of apertures 102 and 104 on optical assembly principle plane148 is referenced D (i.e., interpupilar distance—IPD). A focal length ofapertures 102 and 104 is referenced f. The focal points of the opticalassembly principle plane 148 are referenced by crosses.

Near object plane 114 is located at a distance S in front of opticalassembly principle plane 148. Zero-disparity object plane 118 is locatedat a distance S₀ in front of optical assembly principle plane 148. Zerodisparity image plane 106 is located at a distance S₀′ behind opticalassembly principle plane 148. Near object image plane 120 is locatedbehind optical assembly principle plane 148, at a distance S′.

The optical assembly receives light beams 122A and 124A, throughapertures 102 and 104, respectively, from a point 126A located at anintersection of optical axis 116 and zero disparity object plane 118.Apertures 102 and 104 and the optical assembly direct light beams 122Band 124B, respective of light beams 122A and 124A, respectively, towardthe image detector. Light beams 122B and 124B meet at a point 126B atthe intersection of optical axis 116 and zero disparity image plane 106.

The optical assembly receives light beams 128A and 130A, respectively,from a point 132A of zero disparity object plane 118. Apertures 102 and104 and the optical assembly direct light beams 128B and 130B,respective of light beams 128A and 130A, respectively, toward the imagedetector. Light beams 128B and 130B meet at a point 132B on zerodisparity image plane 106.

The optical assembly receives light beams 134A and 136A throughapertures 102 and 104, respectively, from a point 138A of near objectplane 114, located at an intersection of optical axis 116 and nearobject plane 114. Apertures 102 and 104 and the optical assembly directlight beams 134B and 136B, respective of light beams 134A and 136A,respectively, toward the image detector. Light beams 134B and 136B meetat a virtual point 138B at the intersection of optical axis 116 and nearobject image plane 120.

The optical assembly receives light beams 140A and 142A throughapertures 102 and 104, respectively, from a point 144A of near objectplane 114. Apertures 102 and 104 and the optical assembly direct lightbeams 140B and 142B, respective of light beams 140A and 142A,respectively toward the image detector. Light beams 140B and 142B meetat a virtual point 144B on near object image plane 120.

Projection 138C of point 138A on the image detector is formed by lightbeam 134A passing through aperture 102, and striking the image detectoras light beam 134B. Projection 138D of point 138A on the image detectoris formed by light beam 136A passing through aperture 104, and strikingthe image detector as light beam 136B. The distance between projections138C and 138D of point 138A on the image detector, is referenced δ₁(i.e., disparity).

Projection 144C of point 144A on the image detector is formed by lightbeam 140A passing through aperture 102, and striking the image detectoras light beam 140B. Projection 144D of point 144A on the image detectoris formed by light beam 142A passing through aperture 104, and strikingthe image detector as light beam 142B. The distance between projections144C and 144D of point 144A on the image detector, is referenced δ₂. Bysimilar triangles,δ/D=δ ₁ /D=δ ₂ /D=(S′−S′ ₀)/S′  (1)

-   according to the Lens law,    1/S ₀+1/S′ ₀=1/f  (2)-   solving for S′₀,    S′ ₀ =fS ₀/(S ₀ −f)  (3)-   solving (1) for S′,    S′=DS′ ₀/(D−δ)  (4)-   according to (3) and (4),    S′=DfS ₀/(S ₀ −f)(D−δ)  (5)-   according to the Lens law,    1/S+1/S′=1/f  (6)-   solving for S,    S=fS′/(S′−f)  (7)-   plugging in S′from (5) into (7), yields,

$\begin{matrix}{S = \frac{{DfS}_{0}}{{Df} + {\delta\left( {S_{0} - f} \right)}}} & (8)\end{matrix}$

The disparity δ in (8) is in units of length (e.g., millimeters).Alternatively, disparity can be expressed in units of pixels N, whereN=δ/σ  (9)

-   where σ is the width of a pixel in millimeters. And thus,

$\begin{matrix}{S = \frac{{DfS}_{0}}{{Df} + {N\;{\sigma\left( {S_{0} - f} \right)}}}} & (10)\end{matrix}$According to (10), disparity in unit of pixels can be expressed as,

$\begin{matrix}{N = {\frac{fD}{\sigma\left( {S_{0} - f} \right)}\left( {\frac{S_{0}}{S} - 1} \right)}} & (11)\end{matrix}$

Processor 108 produces a right image and a left image of the objectaccording to an output of the image detector. Processor 108 determinesthe center of distortion in each of the right and the left images, andcorrects the distortion according to methods described herein below, inconnection with FIGS. 4 and 6. Processor 108 takes into account thecenter of distortion, while correcting the distortion.

Processor 108 reconstructs an image of the object (e.g., a stereoscopicimage, a 3D image, a topographical map) according to the right image andthe left image, and display 110 displays the reconstructed image.Processor 108 searches in a left distortion-corrected image of theobject, for the projection of a certain point of the object, matchinganother projection of the same point in a right distortion-correctedimage of the object, and so on for other points of the object. In thismanner, processor 108 determines a plurality of disparity values, andthus depth values, respective of different points on the object, byemploying a depth determination model (e.g., Equation 10, a look-uptable, a mathematical function). The procedure of determining thedisparity is described herein below, in connection with FIG. 4.

Processor 108, further determines a confidence percent level respectiveof each match, to indicate the certainty at which this match is true.Processor 108 determines the confidence percent level according to (32)which is described herein below.

A user (not shown) can designate any two points on the reconstructedimage via user interface 112, and processor 108 superposes the value ofthe distance between these two points on the reconstructed image. Theuser can designate a point on the reconstructed image via user interface112, and processor 108 superposes the depth value respective of thispoint relative to the stereoscopic plane, on the reconstructed image, aswell as the confidence percent level associated with this depth.Processor 108 determines a shift between the right image and the leftimage for display 110 to display the images, wherein this shift isrespective of vision characteristics of the user, thereby reducingvision associated discomfort while the user views the stereoscopicimage.

With further reference to FIG. 3, when the object is located forexample, 30 mm away from the image detector (i.e., at zero-disparityimage plane 118), the disparity between the right image and the leftimage is substantially zero. As the object moves closer to the imagedetector, for example at a distance of 17 mm, the disparity decrease to5 pixels. As the object moves away from the image detector, for exampleat a distance of 129 mm, the disparity increases to 5 pixels in theopposite direction. Hence, the absolute value of the disparity betweenthe right image and the left image at 17 mm and 129 mm are substantiallythe same, however different in sign. Therefore, curve 146 is adecreasing function within the disparity range of minus 5 pixels andplus 5 pixels, having an intercept at 30 mm.

The optical device can include additional elements known in the art, inorder to produce the right image and the left image of the object, fromthe output of the image detector. For example, a set of lenticularlenses can be placed in front of the image detector, to direct the lightbeams respective of the right image and the left image, to therespective predetermined cells on the image detector. The processor,then produces the right image and the left image according to the outputof these cells. The optical device can include an optical assembly(e.g., one or more lenses) to direct the light beams from the aperturestoward the image detector.

Alternatively, the optical device can include an image differentiator toalternately differentiate between the right image of the object and theleft image thereof, thereby enabling the image detector to detect theright image and the left image, alternately. It is noted that in case animage differentiator is employed, a center of the right image andanother center of the left image, substantially match the center of theimage detector. Following are some examples of an image differentiator.

As one example, a pair of static polarizers having differentpolarization directions, are placed in front of the respective aperture,and a dynamic polarizer is placed behind the optical assembly principleplane. As the dynamic polarizer alternates between the two polarizationdirections respective of the static polarizers, the image detectoralternately detects the right image and the left image.

As another example, two different light filters are located in front ofthe respective aperture, and a rotating disk is located behind theoptical assembly principle plane, wherein each light filter receiveslight beams reflected from the object, from a different viewpoint. Therotating disk is equally divided to two sections, each transmittinglight only within the range of wavelengths of the respective lightfilter. As the rotating disk rotates, the rotating disk alternatelyadmits a right image in the color of the first light filter, and a leftimage thereof in another color of the second light filter, to the imagedetector. Alternatively, the light filters can be located behind therespective aperture.

Further alternatively, the rotating disk can be equally divided to atransparent section and an opaque section. Alternatively, thetransparent section can be divided to different sectors each admittinglight within a different range of wavelengths (e.g., red, green, andblue—RGB). Further alternatively, the rotating disk can be divided to aquarter transparent sector and a three-quarter opaque sector.Alternatively, the rotating disk can be divided alternately totransparent sectors and opaque sectors, wherein each transparent sectoradmits light within a different range of wavelengths (e.g., red, greenand blue).

As a further example, a dynamic light valve is placed behind the opticalassembly principle plane. The dynamic light valve is divided to twosections, each corresponding to a different one of the two apertures,wherein a controller controls the two sections to alternately admit andblock light. The controller controls the light valve to alternatelyadmit the right image and the left image to the image detector.Additionally, the optical device can include a Y-shaped fiber bundle,wherein each tip of the letter Y faces the corresponding dynamic lightvalve and the leg of the letter Y faces the image detector.

As another example, a static light valve is placed behind the opticalassembly principle plane. The static light valve is divided to two equalsections, each corresponding to a different one of the two apertures,wherein each section admits light within a different range ofwavelengths (e.g., different range of wavelengths in an RGB palette—RGB₁and RGB₂). A light source alternately illuminates the object within therange of wavelengths of these two different RGB palettes (i.e., RGB₁ andRGB₂). Thus, the image detector alternately detects the right image andthe left image of the object, in the corresponding type of the RGBpalette.

Instead of the static light valve, a multi-wavelength rotating disk canbe employed. As one example, the rotating disk can be alternatelydivided to RGB₁, opaque, RGB₂, and again opaque. As another example, themulti-wavelength rotating disk can be alternately divided to thefollowing sectors: R₁, G₁, B₁, R₂, G₂, and B₂.

As a further example, a pair a static mirrors are placed behind therespective aperture, and a rotating mirror is placed between the pair ofthe static mirrors to alternately reflect light from each one of thepair of the static mirrors. As the rotating mirror alternates betweentwo positions relative to the static mirrors, the image detectoralternately detects the right image and left image of the object.

Additionally, the optical device can include a pair of periscopeslocated between the image differentiator and the optical assemblyprinciple plane. The periscopes provide a larger IPD, thereby increasingthe disparity at every pixel, increasing the accuracy at which the depthis determined, and enabling the processor to reconstruct a more refinedimage of the object. In case an image differentiator or a pair ofperiscopes are employed, the set of lenticular lenses can be eliminatedfrom the optical device.

Reference is now made to FIGS. 4, 5A, 5B, 5C, 5D, 5E, and 5F. FIG. 4 isa schematic illustration of a method for determining the disparity of apair of matching pixels in a right image and a left image of an object,operative in accordance with another embodiment of the disclosedtechnique. FIG. 5A is a schematic illustration of a right distortedimage and a left distorted image of an object, detected by the imagedetector of the optical device of FIG. 2. FIG. 5B is a schematicillustration of a right distortion-corrected image and a leftdistortion-corrected image of the right distorted image and the leftdistorted image of FIG. 5A, respectively. FIG. 5C is a schematicillustration of a pixel in the left distortion-corrected image of FIG.5B, being matched to another pixel in the right distortion-correctedimage of FIG. 5B. FIG. 5D is a schematic illustration of the colorcomposition of the image detector of FIG. 2, and the four virtual imageswhich the processor of the optical device of FIG. 2 produces for one ofthe right or left images of an object. FIG. 5E is a schematicillustration of the virtual images which the processor of the opticaldevice of FIG. 2 produces, according to a right image and a left imagedetected by the image detector of the optical device, and according tothe color mosaic filters on the image detector. FIG. 5F is a schematicillustration of a window including a plurality of actual pixels andinterpolated pixels in the left distortion-corrected image of FIG. 5C,in order to perform a cross correlation with another window in the rightdistortion-corrected image of FIG. 5C, which includes a plurality ofonly actual pixels.

In procedure 170, a first image of an object is detected through a firstaperture and a second image of the object is detected through a secondaperture, the first image and the second image being detected by asingle image detector. With reference to FIG. 2, the image detectordetects a right image (not shown) and a left image (not shown) of theobject. The right image is composed of a plurality of projections ofdifferent points (not shown) of the object, similar to projection 138Cof point 138A, and the left image is composed of a plurality of otherprojections of the same points of the object, similar to projection 138Dof point 138A.

With reference to FIG. 5A, the image detector detects a right distortedimage 190A of the object and a left distorted image 192A thereof. Rightdistorted image 190A and left distorted image 192A, can form astereoscopic image pair, which when displayed together on a display andviewed by a viewer using a suitable pair of glasses, can provide theviewer a stereoscopic perception of the detected object. Due to thecharacteristics of the optical assembly of optical assembly 100, images190A and 192A are distorted, and furthermore, they are distortedsymmetrically about centers of distortion 190B and 192B, respectively.Images 190A and 192A are generally distorted in a radial manner aboutcenters of distortion 190B and 192B, respectively.

In procedure 172, a first image distortion respective of the first imageand a second image distortion respective of the second image arecorrected, by applying an image distortion correction model to the firstimage and to the second image, thereby producing a firstdistortion-corrected image and a second distortion-corrected image. Withreference to FIGS. 2 and 5A, processor 108 corrects the imagedistortions in right distorted image 190A and in left distorted image192A, by applying a distortion correction model to each of rightdistorted image 190A and left distorted image 192A, while taking intoaccount centers of distortion 190B and 192B. The centers of distortion190B and 192B are determined as described herein below in connectionwith FIG. 6.

The image detector can include for example, the complementary colormosaic filters of yellow, cyan, magenta, and green. With reference toFIG. 5D, an image 194 detected by the image detector is represented by afield of 288 rows and 376 columns, wherein each pixel has a filter ineither of the colors A, B, C, or D, which are defined as follows:A=cyan+green, B=yellow+magenta, C=cyan+magenta, and D=yellow+green. Inorder to determine the disparity associated with a certain point on theobject, processor 108 produces four virtual images 196A, 196B, 196C, and196D, corresponding to the respective colors A, B, C, and D, each havinga field of 144 rows and 188 columns.

When processor 108 corrects the distortions in a distorted color image,it moves each color pixel according to an image distortion correctionmodel. Therefore, the outcome of a distortion correction procedureapplied to a distorted color image, is a separate distortion correctedimage in each of the colors of the original distorted color image (i.e.,each of the pixels in each color image is shifted by a certain amountrelative to the ones in the original distorted color image).

In case of the four colors A, B, C, and D, when processor 108 correctsthe distortion in right distorted image 190A, processor 108 producesfour distortion-corrected color images A_(RIGHT), B_(RIGHT), C_(RIGHT),and D_(RIGHT), (FIG. 5D) according to the image distortion correctionmodel. Likewise, when processor 108 corrects the distortion in leftdistorted image 192A, processor 108 produces four distortion-correctedcolor images A_(LEFT), B_(LEFT), C_(LEFT), and D_(LEFT), according tothe image distortion correction model.

The image detector detects an image 198 of the object. Processor 108produces a right distortion-corrected image 190C (FIG. 5B), by producingthe four distortion-corrected color images A_(RIGHT), B_(RIGHT),C_(RIGHT), and D_(RIGHT). Likewise, processor 108 produces leftdistortion-corrected image 192C, by producing the fourdistortion-corrected color images A_(LEFT), B_(LEFT), C_(LEFT), andD_(LEFT).

Hence, in the description herein below, the term “distortion-correctedimage” equally refers to each of the distortion-corrected color imagesof the original distorted image. Likewise, the term “rightdistortion-corrected image” equally refers to each of the fourdistortion-corrected images A_(RIGHT), B_(RIGHT), C_(RIGHT), andD_(RIGHT), and the term “left distortion-corrected image” equally refersto each of the four distortion-corrected images A_(LEFT), B_(LEFT),C_(LEFT), and D_(LEFT).

Image 198 can have for example, a field of 288 rows and 752 columns.Each of right distortion-corrected image 190C and leftdistortion-corrected image 192C, would then have a field of 288 rows and376 columns, and each of distortion-corrected color images A_(RIGHT),B_(RIGHT), C_(RIGHT), D_(RIGHT) and A_(LEFT), B_(LEFT), C_(LEFT), andD_(LEFT), a field of 144 rows and 188 columns.

Since the image detector receives the light beams respective of a firstviewing direction and a second viewing direction through the sameoptical assembly, the distortion in right distorted image 190A and inleft distorted image 192A are symmetric and are mirror images of oneanother. Hence, the two distortion correction models for right distortedimage 190A and left distorted image 192A are similar, except therespective differences in signs. An actual pixel 186 (FIG. 5C) in rightdistortion-corrected image 190C represents projection 138C (FIG. 2) ofpoint 138A on the image detector. An actual pixel 188 in leftdistortion-corrected image 192C represents projection 138D of point 138Aon the image detector. It is noted that due to the distortion in rightdistorted image 190A and in left distorted image 192A, actual pixels 186and 188 are shifted relative to one another. Therefore, in order todetermine the disparity between actual pixels 186 and 188 in asubstantially accurate manner, it is imperative that the distortions arecorrected beforehand.

In procedure 174, for each pixel in at least a portion of the firstdistortion-corrected image, a matching pixel is identified in the seconddistortion-corrected image. With reference to FIG. 5B, processor 108determines for each pixel in at least a portion of rightdistortion-corrected image 190C, a matching pixel in at least a portionof left distortion-corrected image 192C. Due to the properties of theblock matching method for determining a matching pixel as describedherein below, processor 108 does not determine the disparities at themargins of right distortion-corrected image 190C and leftdistortion-corrected image 10192C. This is so, because a window (asdescribed herein below in connection with FIGS. 5C and 5F), formed inthe neighborhood of each of the pixels in an outer region of an image,includes pixels which fall outside this image, causing the blockmatching procedure to yield unreliable results with respect to thesewindows.

In an image which is for example, 144×188 pixels in each color,processor 108 can for example, form an inner region by excluding 10pixels vertically from the upper and lower boundaries of the originalimage, and furthermore excluding 15 pixels horizontally from the rightand left boundaries of the original image. Processor 108, thendetermines the matching pixels only in this inner region, and likewisedetermines the disparity only for pixels within this inner region.

With reference to FIGS. 2 and 5C, processor 108 identifies the matchingpixels in left distortion-corrected image 192C, for every pixel in rightdistortion-corrected image 190C, by employing a block matching method asdescribed herein below. According to the epipolar constraint, actualpixels 186 and 188 are located in the same row of the respective images.Since the object is located at near object plane 114, actual pixels 186and 188 are located in the same row, but in different columns. Accordingto the example set forth in FIG. 5C, actual pixel 186 is located in row100, and column 150 in right distortion-corrected image 190C, whileactual pixel 188 is located in row 100, and column 148 in leftdistortion-corrected image 192C. Processor 108 attempts to find actualpixel 188 in left distortion-corrected image 192C, which matches actualpixel 186 in right distortion-corrected image 190C.

Therefore, processor 108 searches for actual pixel 188 in row 100 ofleft distortion-corrected image 192C, by employing a block matchingtechnique known in the art, such as cross correlation, cross entropy,squares of differences, absolute value of differences, a histogram,Kalmagorov distance method, and the like. The input to each method canbe either the intensity of a pixel, the directional differential of theintensity of the pixel along the horizontal axis, along the verticalaxis, or a combination thereof.

According to an aspect of the disclosed technique, the processordetermines a matching pixel in a first image for a pixel in a secondimage, by cross correlating a first window formed around that pixel inthe second image, with a plurality of windows formed around each of aplurality of pixels in the first image. The processor determines adisparity value respective of that pixel in the second image, accordingto the indices of the pixel in the second image, and those of thematching pixel in the first image.

The processor produces a modified image according to the first image, byinterpolating between every two adjacent pixels in each row of the firstimage, thereby producing a set of interpolated pixels in the firstimage. The processor determines the indices of each of the pixels in thefirst image, according to the index of the row of the pixel in thesecond image, and according to a range of column indices about the indexof the column of the pixel in the second image. Due to the presence ofthe interpolated pixels, the column indices of adjacent pixels among thepixels in the first image differ by a portion of a pixel, therebyenabling the processor to determine the disparity value at an accuracywhich is inversely proportional to this portion of a pixel.

The processor cross correlates the first window in the second image witheach of the windows in the first image, by taking into account apredetermined set of colors associated with the image detector. For thispurpose, the processor produces a modified image for each color,according to the first image, and cross correlates the window in eachcolor image of the second image, with the windows in the modified imageof the respective color.

Following is a description of the process for identifying the matchingpixel according to the cross correlation method, which is unique for thedisclosed technique. According to the cross correlation theory, giventwo one-dimensional signals f and g, wherein the amplitudes of thesesignals are different at different points in time, and wherein the twosignals are shifted relative to one another by an amount r, the methodattempts to determine the similarity between f and g in the followingmanner. The criterion for similarity of f and g is,

$\begin{matrix}{{Min}_{\tau,\rho}\left( {\int_{t_{1}}^{t_{2}}{{{\frac{f(t)}{f} - {\rho\frac{g\left( {t - \tau} \right)}{g}}}}^{2}\ {\mathbb{d}t}}} \right)} & (12)\end{matrix}$where, ∥f∥ and ∥g∥ are the magnitudes of f and g, respectively, and τ iscontinuous. The solution of (12) is

$\begin{matrix}{\rho = \frac{\int_{t_{1}}^{t_{2}}{{f(t)}{g\left( {t - \tau} \right)}\ {\mathbb{d}t}}}{{{f(t)}} \cdot {{g(t)}}}} & (13) \\{{{f(t)}} = \sqrt{\int_{t_{1}}^{t_{2}}{{f^{2}(t)}\ {\mathbb{d}t}}}} & (14) \\{{{g(t)}} = \sqrt{\int_{t_{1}}^{t_{2}}{{g^{2}\left( {t - \tau} \right)}\ {\mathbb{d}t}}}} & (15)\end{matrix}$and where −1<ρ<1. The value of τ is selected such that |ρ| is maximal.At this maximal value of |ρ|, (12) is equal to 1−ρ². It is noted that iff and g are similar, then ρ=1 and (12) is equal to zero. (13) is knownin the art as the cross correlation between f and g. The crosscorrelation theory is generalized to two-dimensional signals (i.e.,images) in the disclosed technique, in order to determine a pixel inleft distortion-corrected image 192C, which matches actual pixel 186 inright distortion-corrected image 190C.

Processor 108 operates as follows in order to find actual pixel 188 inleft distortion-corrected image 192C, which matches actual pixel 186 inright distortion-corrected image 190C. Processor 108 produces additionalpixels within every pair of adjacent pixels, in each row of leftdistortion-corrected image 192C, by interpolating the intensity betweenevery such adjacent pairs. Processor 108 can perform a bilinearinterpolation (i.e., employing a linear function), a cubic interpolation(i.e., employing a non-linear function), and the like, in order toproduce the interpolated pixels. Processor 108 can produce for example,three additional pixels between every pair of adjacent pixels. Thus,processor 108 produces interpolated images A_(INT), B_(INT), C_(INT),and D_(INT) according to A_(LEFT), B_(LEFT), C_(LEFT), and D_(LEFT),respectively, wherein each of A_(INT), B_(INT), C_(INT), and D_(INT)images includes a field of 144 rows and 752 columns.

In order to determine the matching pixel, processor 108 cross correlatesbetween right distortion-corrected image 190C and leftdistortion-corrected image 192C, as described herein below. Processor108 determines beforehand, that the object is located within a certainrange from the image detector (e.g., between 17 mm and 129 mm away fromthe optical assembly principle plane, as described herein above inconnection with FIG. 3). In this case processor 108 determines that therange of disparities between a pixel in right distortion-corrected image190C and left distortion-corrected image 192C, is between minus 5 pixelsand plus 5 pixels.

Processor 108 can for example, cross correlate at steps of quarter of apixel within a range of between minus 5 pixels and plus 5 pixels, aboutthe column index of actual pixel 186. Processor 108 performs each crosscorrelation with respect to each of the colors (according to aboveexample, four colors) associated with the image detector. In this case,processor 108 performs a total of 44 (11×4=44) cross correlations, inorder to find the matching pixel in left distortion-corrected image192C, for pixel 186 in right distortion-corrected image 190C.

With reference back to FIG. 5C, according to the example describedherein above, and according to this range of disparities, processor 108searches for actual pixel 188 in row 100 of left distortion-correctedimage 192C and between columns 145 and 155 in left distortion-correctedimage 192C.

The signal produced by the image detector is generally noisy. Therefore,actual pixel 188 (i.e., the matching pixel) has to be found by employinga window of a suitable kernel size which is an uneven number. Followingis a description of the procedure for finding the matching pixel for apixel in right distortion-corrected image 190C, according to the crosscorrelation method, by employing a window, while additional pixels havebeen previously interpolated between every pair of pixels in each row ofeach of A_(INT), B_(INT), C_(INT), and D_(INT) images. The interpolationis performed in order to increase the accuracy at which processor 108determines the disparity map.

With reference to FIG. 5F, processor 108 produces a window 200 in leftdistortion-corrected image 192C, wherein the center of window 200 is row100 and column 150. Window 200 includes a set of actual pixels(designated by crossed squares), located between an actual pixel 202 inrow 96 (100−4=96) and column 146 (150−4=146), and an actual pixel 204 inrow 104 (100+4=104) and column 154 (150+4=154). In addition, window 200includes a set of interpolated pixels (designated by dotted squares andempty squares), which processor 108 produces by interpolating betweenevery two adjacent actual pixels in an image, such as images A_(INT),B_(INT), C_(INT), and D_(INT), in each row of that image. In the exampleset forth in FIG. 5F, processor 108 produces three interpolated pixelsbetween every two adjacent actual pixels. Therefore, window 200 includes9 rows and 33 columns.

Window 200 is representative of a window (not shown) in each of A_(INT),B_(INT), C_(INT), and D_(INT) images. It is noted in connection withabove example, that the width of each interpolated pixel is one quarterthat of an actual pixel. In the example of FIG. 5F, a central actualpixel 206 at row 100 and column 150 is located at the center of window200.

Processor commences the procedure for finding actual pixel 188 (FIG.5C), in left distortion-corrected image 192C, which matches actual pixel186 in right distortion-corrected image 190C, by producing window 200 ineach of A_(INT), B_(INT), C_(INT), and D_(INT) images, wherein window200 includes central actual pixel 206 at row 100 and column 150.Processor 108 performs a cross correlation (as described herein below),and then produces another window (not shown) similar to window 200,whose central pixel is an interpolated pixel 208 (designated by an emptysquare) located a quarter of a pixel to the right of central actualpixel 206 (i.e., at row 100 and column 150+¼ pixel). Processor 108performs another cross correlation with respect to the last window, andproduces another window (not shown) similar to window 200, whose centralpixel is an interpolated pixel 210 (designated by a dotted square)located a quarter of a pixel to the right of interpolated pixel 208(i.e., at row 100 and column 150+½ pixel).

Processor 108 performs a further cross correlation with respect to thelast window, and produces a further window (not shown) similar to window200, whose central pixel is an interpolated pixel 212 (designated by anempty square) located a quarter of a pixel to the right of interpolatedpixel 210 (i.e., at row 100 and column 150+¾ pixel). Processor 108performs another cross correlation with respect to the last window, andproduces another window (not shown) similar to window 200, whose centralpixel is an actual central pixel 214 (designated by a crossed square)located a quarter of a pixel to the right of interpolated pixel 212(i.e., at row 100 and at column 151). Each of the windows similar towindow 200 includes a field of 9 rows and 33 columns.

Processor 108 produces a window 216 (FIG. 5C) in rightdistortion-corrected image 190C, which includes a set of actual pixelslocated between an actual pixel 218 at row 96 (100−4=96) and column 146(150−4=146), and an actual pixel 220 at row 104 (100+4=104) and column154 (150+4=154). Hence, window 216 includes a field of 9 rows and 9columns of actual pixels, wherein actual pixel 186 is a central actualpixel in window 216.

Processor 108 cross correlates window 216 (FIG. 5C) with a plurality ofwindows (not shown) similar to window 200 (FIG. 5F), by producing a newwindow around each central pixel (either actual or interpolated), in row100 of left distortion-corrected image 192C, and within a range ofbetween minus 5 pixels and plus 5 pixels about central actual pixel 206,wherein the central pixels are selected at an increment of quarter of apixel. Processor 108 determines that a certain window in leftdistortion-corrected image 192C is similar to window 216. Processor 108determines that the central pixel (either an actual pixel or aninterpolated pixel), in that certain window of left distortion-correctedimage 192C matches actual pixel 186 in right distortion-corrected image190C. Processor 108, furthermore determines a similarity level parameter(as described herein below), to indicate the certainty of this match.

Processor 108 determines that a certain window in leftdistortion-corrected image 192C is similar to window 216 in rightdistortion-corrected image 190C, according to the following criterion,

$\begin{matrix}{{Min}_{\delta,\rho_{A},\rho_{B},\rho_{C},\rho_{D}}\begin{Bmatrix}{{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\begin{bmatrix}{\frac{I_{A,R}\left( {{k + i},{l + j}} \right)}{{I_{A,R}\left( {k,l} \right)}} -} \\{\rho_{A}\frac{I_{A,L}\left( {{k + i + \delta},{l + j}} \right)}{{I_{A,L}\left( {{k + \delta},l} \right)}}}\end{bmatrix}^{2}}} +} \\{{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\begin{bmatrix}{\frac{I_{B,R}\left( {{k + i},{l + j}} \right)}{{I_{B,R}\left( {k,l} \right)}} -} \\{\rho_{B}\frac{I_{B,L}\left( {{k + i + \delta},{l + j}} \right)}{{I_{B,L}\left( {{k + \delta},l} \right)}}}\end{bmatrix}^{2}}} +} \\{{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\begin{bmatrix}{\frac{I_{C,R}\left( {{k + i},{l + j}} \right)}{{I_{C,R}\left( {k,l} \right)}} -} \\{\rho_{C}\frac{I_{C,L}\left( {{k + i + \delta},{l + j}} \right)}{{I_{C,L}\left( {{k + \delta},l} \right)}}}\end{bmatrix}^{2}}} +} \\{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\begin{bmatrix}{\frac{I_{D,R}\left( {{k + i},{l + j}} \right)}{{I_{D,R}\left( {k,l} \right)}} -} \\{\rho_{D}\frac{I_{D,L}\left( {{k + i + \delta},{l + j}} \right)}{{I_{D,L}\left( {{k + \delta},l} \right)}}}\end{bmatrix}^{2}}}\end{Bmatrix}} & (16)\end{matrix}$where,

-   -   δ is the disparity between an actual pixel in right        distortion-corrected image 190C and the matching pixel (either        actual or interpolated) in left distortion-corrected image 192C,        in units of pixels (i.e., δ is discrete). δ depends on the        resolution of the pixels in the modified images of left        distortion-corrected image 192C, which according to above        example is quarter of a pixel.    -   k and l are the column and row indices, respectively, of a        central actual pixel in a window (not shown) similar to each of        windows 216 and 200    -   m is the number of columns of actual pixels to the right and        left of a central actual pixel in a window (not shown) similar        to each of windows 200 and 216    -   n is the number of rows of actual pixels above and below a        central actual pixel in a window (not shown) similar to each of        windows 200 and 216    -   I_(A,R)(k,l) is the intensity of a pixel in a window (not shown)        similar to window 216 in the distortion-corrected color image        A_(RIGHT), wherein the center of this window is defined by        indices (k,l)    -   I_(B,R)(k,l) is the intensity of a pixel in a window (not shown)        similar to window 216 in the image B_(RIGHT), wherein the center        of this window is defined by indices (k,l)    -   I_(C,R)(k,l) is the intensity of a pixel in a window (not shown)        similar to window 216 in the image C_(RIGHT), wherein the center        of this window is defined by indices (k,l)    -   I_(D,R)(k,l) is the intensity of a pixel in a window (not shown)        similar to window 216 in the image D_(RIGHT), wherein the center        of this window is defined by indices (k,l)    -   I_(A,L)(k+δ,l) is the intensity of a pixel in a window (not        shown) similar to window 200 in the image A_(INT), wherein the        center of this window is defined by indices (k+δ,l)    -   I_(B,L)(k+δ,l) is the intensity of a pixel in a window (not        shown) similar to window 200 in the image B_(INT), wherein the        center of this window is defined by indices (k+δ,l)    -   I_(C,L)(k+δ,l) is the intensity of a pixel in a window (not        shown) similar to window 200 in the image C_(INT), wherein the        center of this window is defined by indices (k+δ,l)    -   I_(D,L)(k+δ,l) is the intensity of a pixel in a window (not        shown) similar to window 200 in the image D_(INT), wherein the        center of this window is defined by indices (k+δ,l)    -   ρ_(A) is the cross correlation between a window (not shown)        similar to window 216 in the distortion-corrected color image        A_(RIGHT), and another window (not shown) similar to window 200        in the A_(INT) image    -   ρ_(B) is the cross correlation between a window (not shown)        similar to window 216 in the B_(RIGHT) image, and another window        (not shown) similar to window 200 in the B_(INT) image    -   ρ_(C) is the cross correlation between a window (not shown)        similar to window 216 in the C_(RIGHT) image, and another window        (not shown) similar to window 200 in the C_(INT) image    -   ρ_(D) is the cross correlation between a window (not shown)        similar to window 216 in the D_(RIGHT) image, and another window        (not shown) similar to window 200 in the D_(INT) image

$\begin{matrix}{{{I_{A,R}\left( {k,l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{A,R}^{2}\left( {{k + i},{l + j}} \right)}}}} & (17) \\{{{I_{B,R}\left( {k,l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{B,R}^{2}\left( {{k + i},{l + j}} \right)}}}} & (18) \\{{{I_{C,R}\left( {k,l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{C,R}^{2}\left( {{k + i},{l + j}} \right)}}}} & (19) \\{{{I_{D,R}\left( {k,l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{D,R}^{2}\left( {{k + i},{l + j}} \right)}}}} & (20) \\{{{I_{A,L}\left( {{k + \delta},l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{A,L}^{2}\left( {{k + i + \delta},{l + j}} \right)}}}} & (21) \\{{{I_{B,L}\left( {{k + \delta},l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{B,L}^{2}\left( {{k + i + \delta},{l + j}} \right)}}}} & (22) \\{{{I_{C,L}\left( {{k + \delta},l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{C,L}^{2}\left( {{k + i + \delta},{l + j}} \right)}}}} & (23) \\{{{I_{D,L}\left( {{k + \delta},l} \right)}} = \sqrt{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{I_{D,L}^{2}\left( {{k + i + \delta},{l + j}} \right)}}}} & (24) \\{{\rho_{A}\left( {k,l} \right)} = \frac{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{A,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{A,R}\left( {k,l} \right)}} \right\rbrack}} \\\left\lbrack {{I_{A,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{A,L}\left( {{k + \delta},l} \right)}} \right\rbrack\end{matrix}}{\sqrt{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{A,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{A,R}\left( {k,l} \right)}} \right\rbrack^{2}}} \\{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{A,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{A,L}\left( {{k + \delta},l} \right)}} \right\rbrack^{2}}}\end{matrix}}}} & (25) \\{{\rho_{B}\left( {k,l} \right)} = \frac{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{B,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{B,R}\left( {k,l} \right)}} \right\rbrack}} \\\left\lbrack {{I_{B,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{B,L}\left( {{k + \delta},l} \right)}} \right\rbrack\end{matrix}}{\sqrt{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{B,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{B,R}\left( {k,l} \right)}} \right\rbrack^{2}}} \\{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{B,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{B,L}\left( {{k + \delta},l} \right)}} \right\rbrack^{2}}}\end{matrix}}}} & (26) \\{{\rho_{C}\left( {k,l} \right)} = \frac{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{C,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{C,R}\left( {k,l} \right)}} \right\rbrack}} \\\left\lbrack {{I_{C,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{C,L}\left( {{k + \delta},l} \right)}} \right\rbrack\end{matrix}}{\sqrt{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{C,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{C,R}\left( {k,l} \right)}} \right\rbrack^{2}}} \\{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{C,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{C,L}\left( {{k + \delta},l} \right)}} \right\rbrack^{2}}}\end{matrix}}}} & (27) \\{{\rho_{D}\left( {k,l} \right)} = \frac{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{D,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{D,R}\left( {k,l} \right)}} \right\rbrack}} \\\left\lbrack {{I_{D,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{D,L}\left( {{k + \delta},l} \right)}} \right\rbrack\end{matrix}}{\sqrt{\begin{matrix}{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{D,R}\left( {{k + i},{l + j}} \right)} - {{\overset{\_}{I}}_{D,R}\left( {k,l} \right)}} \right\rbrack^{2}}} \\{\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}\left\lbrack {{I_{D,L}\left( {{k + i + \delta},{l + j}} \right)} - {{\overset{\_}{I}}_{D,L}\left( {{k + \delta},l} \right)}} \right\rbrack^{2}}}\end{matrix}}}} & (28)\end{matrix}$where,

-   -   Ī_(A,R)(k,l) is the average intensity of the actual pixels in a        window (not shown) similar to window 216 in the        distortion-corrected color image A_(RIGHT), wherein the center        of this window is defined by indices (k,l)    -   Ī_(B,R)(k,l) is the average intensity of the actual pixels in a        window (not shown) similar to window 216 in the image B_(RIGHT),        wherein the center of this window is defined by indices (k,l)    -   Ī_(C,R)(k,l) is the average intensity of the actual pixels in a        window (not shown) similar to window 216 in the image C_(RIGHT),        wherein the center of this window is defined by indices (k,l)    -   Ī_(D,R)(k,l) is the average intensity of the actual pixels in a        window (not shown) similar to window 216 in the image D_(RIGHT),        wherein the center of this window is defined by indices (k,l)    -   Ī_(A,L)(k+δ,l) is the average intensity of the pixels (either        actual or interpolated) in a window (not shown) similar to        window 200 in the image A_(INT), wherein the center of this        window is defined by indices (k+δ,l)    -   Ī_(B,L)(k+δ,l) is the average intensity of the pixels (either        actual or interpolated) in a window (not shown) similar to        window 200 in the image B_(INT), wherein the center of this        window is defined by indices (k+δ,l)    -   Ī_(C,L)(k+δ,l) is the average intensity of the pixels (either        actual or interpolated) in a window (not shown) similar to        window 200 in the image C_(INT), wherein the center of this        window is defined by indices (k+δ,l)    -   Ī_(D,L)(k+δ,l) is the average intensity of the pixels (either        actual or interpolated) in a window (not shown) similar to        window 200 in the image D_(INT), wherein the center of this        window is defined by indices (k+δ,l)        In the example set forth in FIG. 5E, assuming that each of right        distortion-corrected image 190C and left distortion-corrected        image 192C includes no margins,        1≦k≦188  (29)        and        1≦l≦144  (30)

The solution of (16) is,(1−ρ_(A) ²)+(1−ρ_(B) ²)+(1−ρ_(C) ²)+(1−ρ_(D) ²)  (31)and is designated by s, which herein below is referred to as “similaritylevel parameter”. At each discrete value (in units of pixels and at aresolution of quarter of a pixel) of δ, processor 108 computesρ_(A)(k,l), ρ_(B)(k,l), ρ_(C)(k,l) and ρ_(D)(k,l), according to (25),(26), (27), and (28), respectively, and further computes (31) accordingto (25), (26), (27), and (28), thereby yielding a set of values s forthe similarity level parameter. Processor 108 selects an optimum valueof δ among different values of δ, for which the value of s is theminimum among different values of s, as the disparity δ of pixel 186 inright distortion-corrected image 190C. At this minimum value of s,ρ_(A)(k,l), ρ_(B)(k,l), ρ_(C)(k,l) and ρ_(D)(k,l) are equal to the rightside of (25), (26), (27), and (28), respectively. It is noted that as sapproaches zero, the certainty that a certain window in leftdistortion-corrected image 192C is similar to window 216 in rightdistortion-corrected image 190C, increases.

For example, if m=4 and n=4, then window 216 includes a field of 9 rows(2×4+1=9) and 9 columns (2×4+1=9), four columns to the right and to theleft of central actual pixel 186 (i.e., m=4), and four rows above andbelow central actual pixel 186 (i.e., n=4). With respect to a windowsimilar to window 200 (FIG. 5F), processor 108 computes (31) whiletaking into account only the actual pixels in this window, when thecentral pixel of this window is an actual pixel, and the interpolatedpixels, when the central pixel of this window is an interpolated pixel.

For example, if the central interpolated pixel in a certain window (notshown), is interpolated pixel 210 (FIG. 5F), which is located at row 100and column 150+½ pixel, then processor 108 takes into account only theinterpolated pixels in columns 146+½ pixel, 147+½, 148+½, 149+½, 150+½,151+½, 152+½, 153+½, and 154+½ (which are designated by dotted squaresin FIG. 5F). It is noted that in this case, window 200 has shifted bytwo quarters of a pixel (i.e., half a pixel) to the right, relative tocentral actual pixel 206.

According to the example described herein above, where it is assumedthat the disparity range is between minus 5 pixels and plus 5 pixels,and the central pixels are selected at increments of quarter of a pixel,processor 108 computes (31), (i.e., examines criterion (16)) a total of44 times (11×1/0.25=44) in order to determine a matching pixel foractual pixel 186. For computing (31) for each value of δ, processor 108produces a window similar to window 200, for each of the colors A, B, C,and D (i.e., a window in each of the images A_(INT), B_(INT), C_(INT),and D_(INT)).

Processor 108 computes the confidence percent level according to,(1−s/4)·100  (32)

In case the successive confidence percent levels are greater than apredetermined threshold, then processor 108 can reduce the range ofdisparities, thereby narrowing down the search in leftdistortion-corrected image 192C, to a smaller number of windows similarto window 200 (FIG. 5F), and finding the matching pixel much morerapidly. For example, processor 108 can set the range of disparities tobetween plus 3 pixels and minus 3 pixels, and thereby according to aboveexample, search for the matching pixel in left distortion-correctedimage 192C, between columns 147 (150−3=147) and 153 (150+3=153). It isnoted that the optimum value of δ is substantially the same between theA_(RIGHT) and A_(INT) images, as well between B_(RIGHT) and B_(INT)images, C_(RIGHT) and C_(INT) images, and D_(RIGHT) and D_(INT) images.

It is noted that the matching pixel could be either an actual pixel oran interpolated pixel. It is further noted that since processor 108performs the cross correlation in increments of a fraction of a pixel(and not a whole pixel, according to above example every quarter of apixel), the accuracy by which processor 108 can locate the matchingpixel and determine the disparity, and thus determine the depth, isincreased four fold, compared to the case where the processor advancesin whole pixel increments.

If actual pixel 188 (FIG. 5C) in column 148 of left distortion-correctedimage 192C, matches actual pixel 186 in right distortion-corrected image190C, then processor 108 determines that the disparity for point 138A(FIG. 2) of the object is 2 pixels (150−148=2), at a confidence percentlevel of for example, 85% (procedure 176 in FIG. 4). Processor 108determines the depth of point 138A, accordingly, and likewise the depthof other points of the object. When the user selects via user interface112 (FIG. 2), a point on an image (not shown) of the object displayed indisplay 110, processor 108 determines the depth at this point (asdescribed herein below), and display 110 displays a superposition of thevalue of this depth on the image.

Alternatively, the user can select two points on the image, respectiveof two respective points on the object, for processor 108 to determinethe distance between these two points. Display 110 then displays asuperposition of the value of this distance on the image. Furtheralternatively, processor 108 can determine the volume of the object(e.g., a tumor), the mass thereof, the surface area, the amount by whichthe tumor protrudes from a background, and the like, according to thedepth data, and perform graphical operations on the object, such asrotation, translation, zoom, stretch, and the like.

The outcome of the cross correlation procedure described herein above,is a disparity value associated with each pixel of rightdistortion-corrected image 190C (FIG. 5C), except those pixels which arelocated at the margins of the image. The disparity for that pixel ineach of the images for the A, B, C, and D colors is substantially thesame.

According to the cross correlation procedure described herein above,processor 108 determines a plurality of color intensity distributiondifferences between the color intensity distribution of a window similarto window 216 (FIG. 5C), and those of a plurality of windows similar towindow 200 (FIG. 5F). Processor 108 selects pixel 188 (FIG. 5C) as thepixel matching pixel 186, which is located at the center of a windowsimilar to window 200, which corresponds to the minimum difference amongthe color intensity distribution differences.

According to another aspect of the disclosed technique, and according toa first filtering procedure, the processor eliminates a disparity valueassociated with a certain pixel (i.e., removes outliers), from thedisparity map, which satisfies either one of the following criteria:

-   -   The disparity associated with the pixel, is larger than a        certain multiple of the standard deviation (e.g., 3σ) of the        average disparity of a predetermined number of pixels in the        neighborhood of the pixel (e.g., four pixels in the immediate        neighborhood of the pixel)    -   The similarity level parameter s is larger than a certain        multiple of the standard deviation of the average similarity        level parameter respective of a predetermined number of pixels        in the neighborhood of the pixel    -   The cross validation of the surface normal associated with the        pixel is unacceptable

The larger the window, the more sensitive is the cross correlationprocedure to the image data, the better processor 108 can overcomeinaccuracies due to noise, and the smaller the window, the less reliableis the result of the cross correlation procedure. However, if the windowis too large, and since in case of windows the image data is averaged,then sharp changes in depth (i.e., sharp changes in the value ofdisparity), are substantially equalized. The appropriate size of thewindow can be found by trial and error. It is noted that the crosscorrelation method described herein above, applies to a right image anda left image of an object detected by a single image detector, as wellas to those detected by two separate image detectors.

According to a further aspect of the disclosed technique, the processorcan eliminate the disparity of certain pixels from the disparity map,according to a second filtering procedure. As described herein above,the processor determines a first matching pixel in a first image, for apixel in a second image, according to a first cross correlationprocedure in which the second image is a reference image. In thismanner, the processor determines a first disparity value respective ofthe pixel in the second image, according to the indices of that pixeland those of the first matching pixel.

According to the second filtering procedure, the processor determines asecond matching pixel in the second image for the first matching pixel,and a second disparity value respective of the pixel in the secondimage, according to the indices of the first matching pixel and those ofthe second matching pixel. The processor determines whether to eliminatethe first disparity value from the disparity map, or not, according tothe first disparity value, the second disparity value, and apredetermined range. In case the processor determines to leave the firstdisparity value, the processor determines a more accurate valuerespective of the first disparity value, according to the firstdisparity value and the second disparity value.

Assume that processor 108 has performed a first cross correlationprocedure on right distortion-corrected image 190C, as described hereinabove in connection with FIGS. 5C, 5D, 5E, and 5F, and determined that afirst disparity associated with pixel 186 has a value of a, and thatpixel 188 in left distortion-corrected image 192C matches pixel 186.According to the second filtering procedure, processor 108 performsanother cross correlation procedure in a direction opposite to that ofthe first cross correlation procedure, for determining a pixel in rightdistortion-corrected image 190C, which matches pixel 188 in leftdistortion-corrected image 192C.

For this purpose, processor 108 produces four images similar to imagesA_(INT), B_(INT), C_(INT), and D_(INT) (FIG. 5E), according toA_(RIGHT), B_(RIGHT), C_(RIGHT), D_(RIGHT), respectively, in the fourcolors A, B, C, and D, by interpolating between every two adjacentpixels in each of the A_(RIGHT), B_(RIGHT), C_(RIGHT), D_(RIGHT) images.Processor 108 finds a pixel (not shown) in right distortion-correctedimage 190C, which matches pixel 188 in left distortion-corrected image192C, and determines a second disparity value having a value of b,according to the indices of pixel 188 and those of the matching pixel inright distortion-corrected image 190C. Processor 108 determines a sum eof the first disparity and the second disparity,e=a+b  (33)

The ideal case for keeping the first disparity associated with pixel 186is that e=0, (i.e., a=−b). If e≠0, and−ε≦e≦ε  (34)where ε is a predetermined constant (e.g., ε=1), then processorcalculates a calculated disparity value ofc=(|a|+|b|)/2·sign(a)  (35)and assigns the value of c for the disparity of pixel 186. Otherwise,processor 108 eliminates the disparity associated with pixel 186 fromthe disparity map. It is noted that processor 108 can determine whetherto eliminate or not to eliminate a disparity associated with a pixel inright distortion-corrected image 190C, by employing either the firstfiltering procedure, the second filtering procedure, or both. It isnoted that the second cross correlation method described herein above,applies to a right image and a left image of an object detected by asingle image detector, as well as to those detected by two separateimage detectors.

According to another aspect of the disclosed technique, the processordetermines a matching pixel in a first image, for a pixel in a secondimage, by employing a gradient procedure, according to the gradient ofthe pixel in the second image, and the gradients of a plurality ofpixels in the first image. The processor performs the gradient procedureby producing a modified image according to the first image, for eachcolor, wherein each modified image includes a plurality of interpolatedpixels.

Assume that processor 108 is operative to determine a pixel in leftdistortion-corrected image 192C, which matches pixel 186 in rightdistortion-corrected image 190C. Processor 108 produces thedistortion-corrected color images A_(RIGHT), B_(RIGHT), C_(RIGHT),D_(RIGHT), A_(LEFT), B_(LEFT), C_(LEFT), and D_(LEFT) (FIG. 5E), andfilters the noise from the distortion-corrected color images A_(RIGHT),B_(RIGHT), C_(RIGHT), D_(RIGHT), A_(LEFT), B_(LEFT), C_(LEFT), andD_(LEFT). Processor 108 performs this filtering operation by employing alow-pass filter.

For each pixel (except those in the margins) in each of the imagesdistortion-corrected color images A_(RIGHT), B_(RIGHT), C_(RIGHT),D_(RIGHT), processor 108 determines a gradient component h_(RX) along ahorizontal axis of the image detector, and a gradient component h_(RY)along a vertical axis thereof. Likewise, processor 108 determinesgradient components h_(LX) and h_(LY) respective of each pixel in eachof the images A_(LEFT), B_(LEFT), C_(LEFT), and D_(LEFT).

Processor 108 determines a vectorial gradient h_(R) for each pixel inright distortion-corrected image 190C, according toh _(R)(k,l)=[h _(RX)(k,l)h _(RY)(k,l)]^(T)  (36)and a vectorial gradient h_(L) for each pixel in leftdistortion-corrected image 192C, according toh _(L)(k,l)=[h _(LX)(k,l)h _(LY)(k,l)]^(T)  (37)where k and l are the two-dimensional coordinates of a pixel in rightdistortion-corrected image 190C (respective of Equation 36), and of apixel in left distortion-corrected image 192C (respective of Equation37).

In the following example, processor 108 interpolates three pixelsbetween every two adjacent pixels. Hence, processor 108 produces fourimages associated with each of the images A_(INT), B_(INT), C_(INT), andD_(INT) (i.e., modified images). For example, for the A_(INT) image,processor 108 produces an actual image A_(L) which includes only theactual pixels, an interpolated image A_(L)+¼ which includes only theinterpolated pixels located in the columns ¼ pixel to the right of eachof the actual pixels, an interpolated image A_(L)+½ which includes onlythe interpolated pixels located in the columns ½ pixel to the right ofeach of the actual pixels, and an interpolated image A_(L)+¾ whichincludes only the interpolated pixels located in the columns ¾ pixel tothe right of each of the actual pixels. In this case, each of the imagesA_(L), A_(L)+¼, A_(L)+½, and A_(L)+¾ has a field of 144 rows and 188columns. The images B_(L), B_(L)+¼, B_(L)+½, B_(L)+¾, C_(L), C_(L)+¼,C_(L)+½, C_(L)+¾, D_(L), D_(L)+¼, D_(L)+½, and D_(L)+¾, are defined in asimilar manner, with respect to the colors B, C, and D. Likewise,processor 108 produces four distortion-corrected color images A_(RIGHT),B_(RIGHT), C_(RIGHT), and D_(RIGHT), as described herein above inconnection with FIG. 5E.

According to above example, where processor 108 interpolates threepixels between every two adjacent pixels, in every row of leftdistortion-corrected image 190C, processor 108 searches for a pixel inleft distortion-corrected image, which matches pixel 186 in rightdistortion-corrected image 190C, according toMax_(δ)[U_(T)(k,l,δ),U_(T+1/4)(k,l,δ),U_(T+1/2)(k,l,δ),U_(T+3/4)(k,l,δ)]  (38)where U_(T)(k,l,δ) is associated with the images A_(L), A_(RIGHT),B_(L), B_(RIGHT), C_(L), C_(RIGHT), D_(L), and D_(RIGHT),U_(T+1/4)(k,l,δ) is associated with the images A_(L)+¼, A_(RIGHT),B_(L)+¼, B_(RIGHT), C_(L)+¼, C_(RIGHT), D_(L)+¼, and D_(RIGHT), whereU_(T+1/2)(k,l,δ) and U_(T+3/4)(k,l,δ) are defined in a similar manner,where,

$\begin{matrix}{{U_{T}\left( {k,l} \right)} = {\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{{Q_{T}\left( {{k + i},{l + j},\delta} \right)}{W\left( {i,j} \right)}}}}} & (39) \\{{U_{T + {1/4}}\left( {k,l} \right)} = {\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{{Q_{T + {1/4}}\left( {{k + i},{l + j},\delta} \right)}{W\left( {i,j} \right)}}}}} & (40) \\{{U_{T + {1/2}}\left( {k,l} \right)} = {\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{{Q_{T + {1/2}}\left( {{k + i},{l + j},\delta} \right)}{W\left( {i,j} \right)}}}}} & (41) \\{{U_{T + {3/4}}\left( {k,l} \right)} = {\sum\limits_{i = {- m}}^{m}{\sum\limits_{j = {- n}}^{n}{{Q_{T + {3/4}}\left( {{k + i},{l + j},\delta} \right)}{W\left( {i,j} \right)}}}}} & (42) \\{{Q_{T}\left( {k,l,\delta} \right)} = {{Q_{A}\left( {k,l,\delta} \right)} + {Q_{B}\left( {k,l,\delta} \right)} + {Q_{C}\left( {k,l,\delta} \right)} + {Q_{D}\left( {k,l,\delta} \right)}}} & (43) \\{{Q_{T + {1/4}}\left( {k,l,\delta} \right)} = {{Q_{A + {1/4}}\left( {k,l,\delta} \right)} + {Q_{B + {1/4}}\left( {k,l,\delta} \right)} + {Q_{C + {1/4}}\left( {k,l,\delta} \right)} + {Q_{D + {1/4}}\left( {k,l,\delta} \right)}}} & (44) \\{{Q_{T + {1/2}}\left( {k,l,\delta} \right)} = {{Q_{A + {1/2}}\left( {k,l,\delta} \right)} + {Q_{B + {1/2}}\left( {k,l,\delta} \right)} + {Q_{C + {1/2}}\left( {k,l,\delta} \right)} + {Q_{D + {1/2}}\left( {k,l,\delta} \right)}}} & (45) \\{{Q_{T + {3/4}}\left( {k,l,\delta} \right)} = {{Q_{A + {3/4}}\left( {k,l,\delta} \right)} + {Q_{B + {3/4}}\left( {k,l,\delta} \right)} + {Q_{C + {3/4}}\left( {k,l,\delta} \right)} + {Q_{D + {3/4}}\left( {k,l,\delta} \right)}}} & (46) \\{{Q_{A}\left( {k,l,\delta} \right)} = {{K_{1}\left\{ {\sqrt{\left\lbrack {h_{R}\left( {k,l} \right)} \right\rbrack^{T} \cdot \left\lbrack {h_{R}\left( {k,l} \right)} \right\rbrack} + \sqrt{\left\lbrack {h_{L}\left( {{k + \delta},l} \right)} \right\rbrack^{T} \cdot \left\lbrack {h_{L}\left( {{k + \delta},l} \right)} \right\rbrack}} \right\}} + {K_{2}\sqrt{\left\lbrack {{h_{R}\left( {k,l} \right)} - {h_{L}\left( {{k + \delta},l} \right)}} \right\rbrack^{T} \cdot \left\lbrack {{h_{R}\left( {k,l} \right)} - {h_{L}\left( {{k + \delta},l} \right)}} \right\rbrack}} + {K_{3}{{{I_{A,R}\left( {k,l} \right)} - {I_{A,L}\left( {{k + \delta},l} \right)}}}}}} & (47)\end{matrix}$

where the terms Q_(B)(k,l,δ),Q_(C)(k,l,δ) and Q_(D)(k,l,δ) are definedas in (47), by replacing the letter A with B, C, and D, respectively,and K_(1,) K₂, and K₃ are constants, where K₁≧0, K₂<0, and K₃≦0,I_(A,R)(k,l) is the intensity of a pixel in color A, in a window (notshown) similar to window 216 in the distortion-corrected color imageA_(RIGHT), wherein the center of this window is defined by indices(k,l), and I_(A,L)(k+δ,l) is the intensity of a pixel in a window (notshown) similar to window 200 in the image A_(INT), wherein the center ofthis window is defined by indices (k+δ,l).

Thus, Q_(A)(k,l,δ) relates to the images A_(RIGHT) and A_(L),Q_(B)(k,l,δ) relates to the images B_(RIGHT) and B_(L), Q_(C)(k,l,δ)relates to the images C_(RIGHT) and C_(L), and Q_(D)(k,l,δ) relates tothe images D_(RIGHT) and D_(L). The term Q_(A+1/4)(k,l,δ) is defined asin (47), by replacing the letter A by A+¼, and likewise for other termson the right side of (44), and for the terms on the right side of (45)and (46). For example, the term Q_(A)+¼ (k,l,δ) relates to the imagesA_(RIGHT) and A_(L)+¼. Furthermore, δ, k, and l are as defined hereinabove in connection with (16), and W(i,j) is a weighted function.

Processor 108 produces a window (not shown) of 2 m+1 by 2 n+1 around acentral pixel (either actual or interpolated), in each of the images A,A+¼, A+½, and A+¾. Processor 108 produces similar windows in each of theimages B, B+¼, B+½, and B+¾, in each of the images C, C+¼, C+½, and C+¾,and in each of the images D, D+¼, D+½, and D+¾.

In the example described herein above, processor 108 searches for amatching pixel in left distortion-corrected image 192C, for pixel 186 inright distortion-corrected image 190C, within a range of plus 5 pixelsand minus 5 pixels about the column index of pixel 186 in the same rowas that of pixel 186. Thus, processor 108 computes each of (39), (40),(41), and (42) a total of 11 times.

Processor 108 attributes the central pixel (either actual orinterpolated) which is associated with the greatest value among theterms U_(T), U_(T+1/4), U_(T+1/2) and U_(T+3/4), as the pixel whichmatches pixel 186 in right distortion-corrected image 190C. Processor108 determines the disparity associated with pixel 186, accordingly, andso on for other pixels in right distortion-corrected image 190C. Thefirst term on the right side of (47) can be regarded as the absolutevalue of the vectorial gradients of a pixel in the right image (e.g.,the image A_(RIGHT)), and of a pixel in the left image (e.g., the imageA_(L)). The second term on the right side of (47) can be regarded as theabsolute value of the vectorial gradient difference between the pixel inthe right image and the pixel in the left image. The third term on theright side of (47), can be regarded as the absolute value of thedifference between the color image intensity of the pixel in the rightimage, and of the pixel in the left image. The greater the value of thefirst term on the right side of (47), and the less the value of thesecond and the third terms on the right side of (47), the greater thevalue of Q_(A)(k,l,δ), and the greater the probability that the twopixels are similar and match with one another. Therefore, this is thereason for selecting the maximum of (38) as the criterion for thematching pixel.

Processor 108 can eliminates from the disparity map, certain disparitiesthus determined, either by employing the first filtering procedure, thesecond filtering procedure, or both, as described herein above. In caseprocessor 108 had determined the disparities according to the gradientprocedure, processor 108 performs the second filtering procedureaccording to the gradient procedure. It is noted that the gradientmethod described herein above, applies to a right image and a left imageof an object detected by a single image detector, as well as to thosedetected by two separate image detectors.

Applicant has found that each of right distortion-corrected image 190Cand left distortion-corrected image 192C is still distorted aftercorrecting the image distortion as described herein below, especially atthe margins of each of right distortion-corrected image 190C and leftdistortion-corrected image 192C (i.e., the epipolar constraint does nothold within the margins). Therefore, in the margins of leftdistortion-corrected image 192C, processor 108 searches for a matchingpixel for an examined actual pixel in right distortion-corrected image190C, in two rows of left distortion-corrected image 192C, one above andone below the row in which the examined pixel is located, in addition tothe row in which the examined actual pixel is located (according to theexample in FIGS. 5C, 5D, 5E, and 5F, in rows 99 and 101, as well as inrow 100).

In case of each of windows 216 (FIG. 5C) and 200 (FIG. 5F), which is9×9, applicant has found that this margin is 10 pixels from each of theright boundary and the left boundary horizontally, and 6 pixels fromeach of the upper boundary and the lower boundary vertically. Theepipolar constraint for the inner region (not shown) excluding themargins, substantially holds, and processor 108 performs either thecross correlation procedure or the gradient procedure, as describedherein above in connection with FIGS. 5C, 5D, 5E and 5F, respective ofthe pixels which are located within this inner region. Since thegradient procedure as described herein above, generates noise, it isnecessary to employ a filter in order to filter out this noise.

Processor 108 produces a 3D image of the object as follows. Processor108 determines the X and Y coordinates of every pixel of the 3D imageaccording to,X=(z/v)[(x ₁ +x ₂)/2]  (48)andY=(z/v)[(y ₁ +y ₂)/2]  (49)where the Z coordinate of the 3D image is,

$\begin{matrix}{{z = \frac{{DfS}_{0}}{{Df} + {{\delta\left( {S_{0} - f} \right)}\sigma\; v}}}{{{and}\mspace{14mu}{where}},}} & (50) \\{v = {S_{0}{f/\left( {S_{0} - f} \right)}}} & (51) \\{x_{1} = {\left( {x_{right} - X_{0}} \right)\sigma_{x}v}} & (52) \\{x_{2} = {\left( {x_{left} - X_{0}} \right)\sigma_{x}v}} & (53) \\{y_{1} = {\left( {y_{right} - Y_{0}} \right)\sigma_{y}v}} & (54) \\{y_{2} = {\left( {y_{left} - Y_{0}} \right)\sigma_{y}v}} & (55) \\{\delta = {{x_{1} - x_{2}}}} & (56)\end{matrix}$σ_(x) is the resolution of the image detector along the X axis, σ_(y) isthe resolution of the image detector along the Y axis, v (imagedilution) is the number of color filters on the image detector (e.g., incase of the A, B, C, and D colors, v=4), X_(right) and Y_(right) are thecoordinates of actual pixel 186 (FIG. 5C) in right distortion-correctedimage 190C (according to above example, 100 and 150, respectively),x_(left) and y_(left) are the coordinates of the matching pixel 188 inleft distortion-corrected image 192C (according to above example, 100and 148, respectively), and X₀ and Y₀ are the coordinates of the center(not shown) of the image detector. It is noted that the method forproducing a 3D image of an object described herein above, applies to aright image and a left image of the object detected by a single imagedetector, as well as to those detected by two separate image detectors.

The value of S₀ during calibration of optical device 100, is found byemploying a substantially flat target (not shown), which is divided to aright white section (not shown) and a left black section (not shown).The target is placed at zero-disparity object plane 118 (FIG. 2),wherein point 126A falls on a vertical dividing line (not shown) betweenthe white and black sections.

At some positions of the target relative to the optical assemblyprinciple plane, the image detector detects two sets of 2D images (notshown) for the dividing line (i.e., the disparity is non-zero). Thetarget is moved back and forth along optical axis 116, until the imagedetector detects a single set of 2D images respective of the dividingline (i.e., a position where the change in intensity is greater than apredetermined threshold, for example, 50% and the disparity δ₁ issubstantially zero). The value of S₀ is determined at this position ofzero-disparity object plane 118. The value of S₀ can be found eithermanually or automatically.

Processor 108 eliminates certain disparity values from the disparitymap, by employing either the first filtering procedure, the secondfiltering procedure, or both, as described herein above. As a result ofthe filtering procedure, the disparity map is substantiallydiscontinuous. Processor 108 performs an interpolation procedure, suchas radial basis function (RBF), and the like, on the disparity map, inorder to smooth out the discontinuities and produce a substantiallycontinuous disparity map (i.e., to fill out those disparity values whichprocessor 108 had eliminated, according to the remaining disparityvalues which processor 108 had not eliminated). Since the intensity ofevery pair of matching pixels (e.g., pixels 186 and 188—FIG. 5C) inright distortion-corrected image 190C, and in left distortion-correctedimage 192C are substantially identical, processor 108 performs the RBFfunction on only one of right distortion-corrected image 190C and leftdistortion-corrected image 192C.

The RBF function g(x) is of the general form,

$\begin{matrix}{{g(x)} = {{q(x)} + {\sum\limits_{i = 1}^{N}{\lambda_{i}{\phi\left( {{x - x_{i}}} \right)}}}}} & (57)\end{matrix}$where x is the location at which interpolation is to be performed, x_(i)is the center of the RBF, q(x) is for example, a first order polynomial,λ is a constant, andφ(r)=r ² log(r)  (58)This form of φ(r) of the RBF function is known as the thin-plate spline.(57) can be written in matrix form,

$\begin{matrix}{{{{\begin{matrix}A & Q \\Q^{T} & 0\end{matrix}}{\begin{matrix}\lambda \\c\end{matrix}}} = {\begin{matrix}g \\0\end{matrix}}}{{where},}} & (59) \\\begin{matrix}{A_{i,j} = {\phi\left( {{x_{i} - x_{j}}} \right)}} & {i,{j = 1},{2\mspace{11mu}\ldots\mspace{11mu} N}}\end{matrix} & (60) \\\begin{matrix}{Q_{i,j} = {q_{j}\left( x_{i} \right)}} & {{i = 1},{2\mspace{11mu}\ldots\mspace{11mu} N}} & {{j = 1},{2\mspace{11mu}\ldots\mspace{11mu} L}}\end{matrix} & (61)\end{matrix}$and Q is for example, a first order polynomial.

Equation (59) solves for the coefficients λ and c, thereby finding theRBF function g(x). The centers x_(i) of the RBF are determined byemploying a clustering algorithm such as K mean, Fuzzy K mean, C mean,and the like. The clustering algorithm is employed to select a set ofrepresentative points (i.e., maximum gray level gradient in Y format)among a cloud of points, in order to reduce the number of simultaneousequations which have to be solved.

Processor 108 can examine the validity of the block matching method(e.g., cross correlation procedure, or gradient procedure, as describedherein above), and the RBF function according to the followingprocedure. Processor 108 applies a known disparity function (e.g., aparabolic function) to one of the two images of the object (e.g., theleft image), thereby obtaining a right image. In this manner, processor108 produces a controlled disparity map between the right and leftimages, and stores this controlled disparity map in a memory (notshown).

Processor 108 determines an empirical disparity map between these rightand left images, by applying a block matching procedure (e.g., crosscorrelation procedure or gradient procedure), and the RBF method tothese two images, as described herein above. Processor 108 determinesthe validity of the block matching method and the RBF method bycomparing the empirical disparity map with the controlled disparity map.

Processor 108 can determine the depth of selected points on the object,according to the respective disparity value, by employing a look-uptable which is constructed during a calibration stage of optical device100. For this purpose, the image detector detects a plurality of imagesof a point, such as a fiducial (not shown) located on near object plane114, while the depth S is incrementally varied. Processor 108 determinesthe disparity of the image of that point at each of the known depths,thereby forming a look-up table of depth versus disparity.

Processor 108 can determine the depth respective of every pixel, byidentifying the depth in the look-up corresponding with the determineddisparity, or by interpolating between two disparity entries. Processor108 can perform this interpolation for example, according to the firsttwo terms of the Taylor series. Alternatively, processor 108 canconstruct a mathematical function, such as a power series (i.e.,polynomial), and the like, according to the entries of the look-uptable, and determine the depth according to this mathematical function.

It is noted that since a single optical assembly is employed with asingle image detector in optical device 100, the differences between theoptical characteristics of the right image and the left image, such asscale, aberration, distortion, and the like, are substantially smallerthan in the case of a device which employs two image detectors to obtainthe right image and left images.

Following is a description of the image distortion correction modelwhich is utilized in procedure 172 (FIG. 4), to correct the imagedistortion in right distorted image 190A (FIG. 5A) and left distortedimage 192A. It is assumed that the theoretical distortion model of theoptical assembly is determined during design of the optical assembly.Hence, the theoretical image distortion caused by the optical assemblyat every pixel of the image detector is known. Likewise, the horizontalcorrection value h_(c) ^(X) for correcting the theoretical imagedistortion along the horizontal axis, as well as the vertical correctionvalue h_(c) ^(Y) for correcting the theoretical image distortion alongthe vertical axis, are known.

Thus, a look-up table can be constructed during calibration of opticaldevice 100, which includes a horizontal correction value entry and avertical correction value entry for every pixel entry of the imagedetector. During operation of optical device 100, processor 108 cancorrect the image distortion in each of right distorted image 190A andleft distorted image 192A, by retrieving the horizontal correction valueand the vertical correction value for a selected pixel, and applying therespective correction to each pixel of each image. Processor 108interpolates between pixels to determine the corresponding horizontalcorrection value and vertical correction value, for those pixels whichare missing from the look-up table.

Alternatively, each of horizontal correction model f_(c) ^(X) andvertical correction model f_(c) ^(Y) can be represented as a powerseries,

$\begin{matrix}{{\frac{\left( {x_{CORRECTED} - x_{0}} \right)}{x_{\max}} = {{f_{c}^{X}\left( {x_{DISTORTED},y_{DISTORTED}} \right)}=={\sum\limits_{n = 0}^{N}{\sum\limits_{m = 0}^{M}{{A_{n,m}\left\lbrack \frac{\left( {x_{DISTORTED} - x_{0}} \right)}{x_{\max}} \right\rbrack}^{n}\left\lbrack \frac{\left( {y_{DISTORTED} - y_{0}} \right)}{y_{\max}} \right\rbrack}^{m}}}}}{{and},}} & (62) \\{\frac{\left( {y_{CORRECTED} - y_{0}} \right)}{y_{\max}} = {{f_{c}^{Y}\left( {x_{DISTORTED},y_{DISTORTED}} \right)}=={\sum\limits_{n = 0}^{N}{\sum\limits_{m = 0}^{M}{{B_{n,m}\left\lbrack \frac{\left( {x_{DISTORTED} - x_{0}} \right)}{x_{\max}} \right\rbrack}^{n}\left\lbrack \frac{\left( {y_{DISTORTED} - y_{0}} \right)}{y_{\max}} \right\rbrack}^{m}}}}} & (63)\end{matrix}$where c_(CORRECTED) and y_(CORRECTED) are the coordinates of thecorrected distorted current pixel, x₀ and y₀ are the coordinates of thecenter of distortion of right distorted image 190A and of left distortedimage 192A, respectively, x_(DISTORTED) and y_(DISTORTED) are thecoordinates of the distorted current pixel, and A_(n,m) and B_(n,m) arethe coefficients of the respective power series. Each of x_(max) andy_(max) is determined according to an optical model of the opticaldevice at the design stage. For this purpose, for example, a rectangularregion is determined in order to define the boundaries of an undistortedimage which is detected by a round lens. x_(max) then is the distancebetween a center of this rectangular region and one of the sides of therectangular region, along a horizontal axis of the undistorted image.Likewise, the value of y_(max) is determined along a vertical axis ofthe undistorted image. The value of x₀ and y₀ in the optical model issubstantially equal to zero. A method for determining the coordinates ofthe center of distortion according to the disclosed technique, isdescribed herein below in connection with FIG. 6.

Applicant has found out that the following correction models areappropriate for the optical parameters of optical device 100 which werementioned in the example herein above,

$\begin{matrix}{{f_{c}^{X}\left( {X,Y} \right)} = {a_{00} + {a_{01}x^{\prime}} + {a_{20}x^{\prime 2}} + {a_{30}x^{\prime 3}} + {a_{50}x^{\prime 5}} + {a_{02}y^{\prime 2}} + {a_{12}x^{\prime}y^{\prime 2}} + {a_{22}x^{\prime 2}y^{\prime 2}} + {a_{32}x^{\prime 3}y^{\prime 2}} + {a_{52}x^{\prime 5}y^{\prime 2}}}} & (64) \\{{{f_{c}^{Y}\left( {X,Y} \right)} = {{c_{01}y^{\prime}} + {c_{11}x^{\prime}y^{\prime}} + {c_{21}x^{\prime 2}y^{\prime}} + {c_{30}y^{\prime 3}} + {c_{13}x^{\prime}y^{\prime 3}} + {c_{23}x^{\prime 2}y^{\prime 3}} + {c_{05}y^{\prime 5}} + {c_{15}x^{\prime}y^{\prime 5}} + {c_{25}x^{\prime 2}y^{\prime 5}}}}{{where},}} & (65) \\{x^{\prime} = \frac{\left( {x - x_{0}} \right)}{x_{\max}}} & (66) \\{y^{\prime} = \frac{\left( {y - y_{0}} \right)}{y_{\max}}} & (67) \\{{{- 1} \leq x^{\prime} \leq {1\mspace{14mu}{and}}},} & (68) \\{{- 1} \leq y^{\prime} \leq 1} & (69)\end{matrix}$where x and y are the coordinates of the current pixel (i.e., the pixelwhose distortion has to be corrected), and x₀ and y₀ define the centerof each of the color images A_(RIGHT), B_(RIGHT), C_(RIGHT), D_(RIGHT),A_(LEFT), B_(LEFT), C_(LEFT), and D_(LEFT). Thus, each of x′ and y′ is anormalized value of each of x and y parameters. The term (x-x₀) in (66)is in units of pixels while x_(max) is in units of length (e.g.,millimeters). Units of pixels are converted to units of length, bytaking into account the resolution of a pixel of the image detectoralong the horizontal axis. Likewise, the units of pixels in (67) areconverted to units of length. Equation (64) is an even function alongthe X axis and an odd function along the Y axis, whereas Equation (65)is an odd function along the X axis and an even function along theY-axis.

During design of the optical device, two images of for example, a 21×21grid (i.e., 441 points) are produced according to the optical model. Inone image these points describe a plurality of distorted locations, andin the other image, a plurality of distortion corrected locations. Thecoordinates of the 441 points in the two images are known in a globalcoordinate system. The left side of (64) and (65) is the amount by whicha pixel is distorted according to the optical model of the opticaldevice. The x′ and y′ coordinates of each of the 441 points is pluggedin the right side of each of (64) and (65). In this manner, 441simultaneous Equations are obtained, the solution of which provides thevalues of the coefficients of (64) and (65). The value of thecoefficients in each of (64) and (65) depends on the IPD value of theoptical device. During operation of optical device 100, processor 108determines the image distortion correction model for the right image andfor the left image, according to (64) and (65), and further determinesthe coordinates of the center of distortion, and the coordinates of atleast a portion of the pixels in each of the right and the left image.

In applying the distortion correction models (64) and (65) to correct adistorted image, as in procedure 172 described herein above, x is set tothe horizontal index of the current pixel, x₀ is set to the center ofdistortion of the distorted image, as determined in the method of FIG. 6described herein below, and x_(max) is determined according to theoptical model, as described herein above. Likewise, the values of y, y₀and y_(max) are plugged into (67).

Since a single optical assembly and a single image detector are employedin optical device 100, the image distortions in each of the right imageand the left image are substantially symmetric and a mirror image of oneanother. Therefore, (64) and (65) for the right image and the left imageare identical, except the appropriate differences in the signs of one ormore of the coefficients on the right side of each of Equations (64) and(65).

It is noted that distortion correction models (64) and (65) apply to aright image and a left image of an object detected by a single imagedetector, as well as to those detected by two separate image detectors.In case of two image detectors, if the optical models of the two imagedetectors are substantially identical, and if the two image detectorsare substantially identical, then the coefficients of each of (64) and(65) are substantially the same for the two image detectors. Therefore,it is sufficient to determine the coefficients of each of (64) and (65)for only one of the image detectors. In case the optical models for thetwo image detectors are different and the image detectors are different,then the distortion correction models for the two image detectors aredifferent.

An image distortion model f_(d) ^(X)(X,Y) along the horizontal axis andanother image distortion model f_(d) ^(Y)(X,Y) along the vertical axiscan be determined according to design parameters of the opticalassembly. These image distortion models are similar to (64) and (65),respectively, and are employed in procedure 248 (FIG. 6), in order todistort an image of a three-dimensional object, substantially the sameway the optical assembly would distort the image.

Reference is now made to FIGS. 6, 7, 8, 9, 10A, 10B, 11A, 11B, 12A, 12B,13A, 13B, 14A and 14B. FIG. 6 is a schematic illustration of a methodfor determining a center of distortion of a first distorted image and asecond distorted image respective of an optical device, operative inaccordance with a further embodiment of the disclosed technique. FIG. 7is a schematic illustration of the relative positions of the image of apoint on a target generally referenced 310, on a normalized image planegenerally referenced 282, and on a physical retina image plane generallyreferenced 284. FIG. 8 is a schematic illustration of the target of FIG.7, which is employed to determine the center of distortion according tothe method of FIG. 6. FIG. 9 is a schematic illustration of an imagedetector generally referenced 314, detecting an image of the target ofFIG. 8. FIG. 10A is a schematic illustration of a first distorted imagegenerally referenced 316, of the target of FIG. 8, being detected by theimage detector of FIG. 9. FIG. 10B is a schematic illustration of asecond distorted image generally referenced 318, of the target of FIG.8, being detected by the image detector of FIG. 9. FIG. 11A is aschematic illustration of corrected locations of the detected points ofthe first distorted image of FIG. 10A. FIG. 11B is a schematicillustration of corrected locations of the detected points of the seconddistorted image of FIG. 10B. FIG. 12A is a schematic illustration of afirst set of calculated points, obtained by applying a firsttransformation model to the three-dimensional coordinates of the pointsof the target of FIG. 8. FIG. 12B is a schematic illustration of asecond set of calculated points, obtained by applying a secondtransformation model to the three-dimensional coordinates of the pointsof the target of FIG. 8. FIG. 13A is a schematic illustration of a firstset of distorted calculated points, respective of the points of thetarget of FIG. 8. FIG. 13B is a schematic illustration of a second setof distorted calculated points, respective of the points of the targetof FIG. 8. FIG. 14A is a schematic illustration of the distances betweenthe points of the first distorted image of FIG. 10A, and the first setof distorted calculated points of FIG. 13A. FIG. 14B is a schematicillustration of the distances between the points of the second distortedimage of FIG. 10B, and the second set of distorted calculated points ofFIG. 13B. The method according to FIG. 6 is performed during calibrationof optical device 100 (FIG. 2).

In procedure 240, the two-dimensional coordinates of a plurality ofknown points of a target are determined, in a first distorted image andin a second distorted image of the target. With reference to FIG. 8,target 310 is a substantially flat plate which includes a plurality ofpoints 312A and 312B. The position of points 312A and 312B are known ina three-dimensional world coordinate system X, Y, Z. Points 312A and312B can be a plurality of points of intersection of a plurality ofintersecting horizontal and vertical lines (i.e., a grid). Withreference to FIGS. 9, 10A, and 10B, image detector 314 detects firstdistorted image 316 and second distorted image 318, of target 310.Processor 108 (FIG. 2) determines the two-dimensional coordinates ofpoints 320A and 320B, respectively, in first distorted image 316,respective of points 312A and 312B, respectively. Processor 108determines the two-dimensional coordinates of points 322A, and 322B,respectively, in second distorted image 318, respective of points 312Aand 312B, respectively.

Instead of image detector 314, a first image detector (not shown) and asecond image detector (not shown), can be employed to detect the firstdistorted image and the second distorted image, respectively. The imagedistortions in each of first distorted image 316 and second distortedimage 318, can be caused by the optical elements of the optical assemblyand apertures 102 (FIG. 2) and 104. Image distortions can be caused bymanufacturing errors, for example, aberrations in lenses.

In procedure 242, the locations of the two-dimensional coordinates arecorrected, according to an image distortion correction model, whoseorigin is selected as an image detector center. With reference to FIG.9, the center of image detector 314 is referenced 324. With reference toFIGS. 10A and 11A, processor 108 corrects the location of points 320Aand 320B, to locations 326A and 326B, respectively. With reference toFIGS. 10B and 11B, processor 108 corrects the location of points 322Aand 322B, to locations 328A and 328B, respectively. Processor 108corrects these locations according to the image distortion correctionmodel defined by (64) and (65), wherein x₀ and y₀ in (64) and (65) areselected as center 324 of image detector 314.

In case two image detectors (not shown) are employed to detect firstdistorted image 316 and second distorted image 318, distortioncorrection models (64) and (65) are applied to each of first distortedimage 316 and second distorted image 318, with respect to the center ofthe respective image detector. If the optical models of the two imagedetectors are substantially the same, and the two image detectors aresubstantially identical, then the coefficients of (64) and (65) for thetwo image detectors are substantially the same. Otherwise, a differentdistortion correction model is employed to determine the center ofdistortion for each image detected by each image detector.

In procedure 244, a first transformation model and a secondtransformation model are determined, according to the respectivecorrected locations, and according to the three-dimensional coordinatesof the known points. The term “transformation model” herein below,refers to the first transformation model as well as to the secondtransformation model.

The transformation model can be a projection matrixM=K[Rt]  (70)whose elements are determined by solving (71)PM=0  (71)where K are the intrinsic parameters of image detector 314, R and t arethe extrinsic parameters of image detector 314 (i.e., rotation andtranslation), and

$\begin{matrix}{P = \begin{bmatrix}P_{1}^{T} & 0^{T} & {{- u_{1}}P_{1}^{T}} \\0^{T} & P_{1}^{T} & {{- v_{1}}P_{1}^{T}} \\\ldots & \ldots & \ldots \\P_{n}^{T} & 0^{T} & {{- u_{n}}P_{n}^{T}} \\0^{T} & P_{n}^{T} & {{- v_{n}}P_{n}^{T}}\end{bmatrix}} & (72)\end{matrix}$(71) can be solved according to linear least squares method, nonlinearleast squares method, and the like. The projection matrix of (70)includes both the intrinsic parameters and the extrinsic parameters ofimage detector 314.

With reference to FIG. 7, a normalized image plane 282 is substantiallyparallel with a physical retina image plane 284. Normalized image plane282 is located between a point P of target 310, and physical retinaimage plane 284. Normalized image plane 282 is located at a unitdistance from target 310. Physical retina image plane 284 is located ata focal point of target 310 (i.e., a distance f≠1 from target 310).Point P is similar to points 312A (FIG. 8) and 312B. Image detector 314detects an image p of point P on physical retina image plane 284,through a pinhole 286 located at an origin of a world coordinate systemx, y, z. A projection of point P on normalized image plane 282 isreferenced {circumflex over (p)}. Normalized image plane 282 isassociated with a normalized coordinate system û,{circumflex over (v)}whose origin is located at Ĉ, where an optical axis 288 passes through.The projection of pinhole 286 through point Ĉ on physical retina imageplane 284, and along optical axis 288, is referenced by a principlepoint C₀. The normalized coordinate system is defined by

$\begin{matrix}\left\{ {\left. \begin{matrix}{\hat{u} = \frac{x}{z}} \\{\hat{v} = \frac{y}{z}}\end{matrix}\Leftrightarrow\hat{p} \right. = {\frac{1}{z}\begin{pmatrix}{Id} & 0\end{pmatrix}\begin{pmatrix}P \\1\end{pmatrix}}} \right. & (73)\end{matrix}$where Id is a 3×3 unity matrix, and where by definition,{circumflex over (p)}=(û{circumflex over (v)}1)^(T)  (74)

An origin of the coordinate system of image detector 314 is located at apoint C of physical retina image plane 284. Point C is generally locatedat a corner of physical retina image plane 284, and does not coincidewith the principle point C₀. Due to the intrinsic parameters, thecoordinates (u, v) of point p can be written as,

$\begin{matrix}\left\{ {{\begin{matrix}{u = {{\alpha\frac{x}{z}} - {\alpha\;\cot\;\theta\frac{y}{z}} + u_{0}}} \\{v = {{\frac{\beta}{\sin\;\theta}\frac{y}{z}} + v_{0}}}\end{matrix}{where}},} \right. & (75) \\{{\alpha = {kf}}{and}} & (76) \\{\beta = {lf}} & (77)\end{matrix}$where f is a distance expressed for example, in meters, a pixel hasdimensions

${\frac{1}{k} \times \frac{1}{l}},$where k and l are in units of for example, pixel per meter, u₀ and v₀define the location of the principle point C₀ in the coordinate systemof physical retina image plane 282, and θ defines the skewed anglebetween the coordinate system of image detector 314 and a normalizedcoordinate system û,{circumflex over (v)}, due to manufacturing errors.

Each of coordinates u₁, v₁, u_(n), v_(n) in (72) is given by the leftsides of (75), which define the coordinates of the projections ofdifferent points on target 310, similar to point P, on physical retinaimage plane 284, as detected by image detector 314. Processor 108 candetermine the coordinates u₁, v₁, u_(n), v_(n) by employing a featureextraction algorithm. Alternatively, a user can enter the coordinatesu₁, v₁, u_(n), v_(n) to processor 108, by selecting each of the points312A (FIG. 8) and 312B, via user interface 112 (e.g., by employing apointing device and a display). P_(n) in (72) designates the knownactual three-dimensional coordinates of point P on target 310, and bydefinition is given by,P _(n)=(x _(n) y _(n) z _(n)1)^(T)  (78)

Projection matrix M can be represented by,

$\begin{matrix}{M = \begin{bmatrix}{{\alpha\left( {r_{11} + {\cot\;\theta\; r_{21}}} \right)} + {u_{0}r_{31}}} & {{\frac{\beta}{\sin\;\theta}r_{21}} + {v_{0}r_{31}}} & r_{31} \\{{\alpha\left( {r_{12} + {\cot\;\theta\; r_{22}}} \right)} + {u_{0}r_{32}}} & {{\frac{\beta}{\sin\;\theta}r_{22}} + {v_{0}r_{32}}} & r_{32} \\{{\alpha\left( {r_{13} + {\cot\;\theta\; r_{23}}} \right)} + {u_{0}r_{33}}} & {{\frac{\beta}{\sin\;\theta}r_{23}} + {v_{0}r_{33}}} & r_{33} \\{{\alpha\left( {t_{x} - {\cot\;\theta\; t_{y}}} \right)} + {u_{0}t_{z}}} & {{\frac{\beta}{\sin\;\theta}t_{y}} + {v_{0}t_{z}}} & t_{z}\end{bmatrix}^{T}} & (79)\end{matrix}$where r₁₁, r₁₂, r₁₃, r₂₁, r₂₂, r₂₃, r₃₁, r₃₂, r₃₃ are the rotationparameters and t_(x), t_(y), t_(z) are the translation parameters. Thus,processor 108 determines the first transformation model according to thecoordinates of the corrected locations 326A (FIG. 11A) and 326B ofpoints 320A (FIG. 10A) and 320B given by (75), and the knownthree-dimensional coordinates of points 312A (FIG. 8) and 312B given by(78). Likewise, processor 108 determines the second transformation modelaccording to the coordinates of the corrected locations 328A (FIG. 11B)and 328B of points 322A (FIG. 10B) and 322B given by (75), and the knownthree-dimensional coordinates of points 312A (FIG. 8) and 312B given by(78). The coefficients of M in (70) are determined by solving a systemof 2 n homogeneous linear equations according to (71), where n is thenumber of selected points of intersection on the calibration object.

In procedure 246, a first set of calculated points and a second set ofcalculated points are determined, by applying the first transformationmodel and the second transformation model, respectively, to thethree-dimensional coordinates. With reference to FIG. 8, processor 108applies the first transformation model given by (79) to thethree-dimensional coordinates of points 312A (FIG. 8) and 312B, therebydetermining calculated points 330A (FIG. 12A) and 330B, respective ofpoints 312A (FIG. 8) and 312B. The coordinates of calculated points 330Aand 330B represent the projections of points 312A and 312B on imagedetector 314 (FIG. 9), which would be detected by an optical device (notshown), which is substantially devoid of any image distortions, as ifthe optical assembly was free of manufacturing errors. Likewise,processor 108 applies the second transformation model given by (79) tothe three-dimensional coordinates of points 312A and 312B, therebydetermining calculated points 332A (FIG. 12B) and 332B, respective ofpoints 312A (FIG. 8) and 312B.

In procedure 248, a first set of distorted calculated points and asecond set of distorted calculated points are determined, by applying animage distortion model to the first set of calculated points and to thesecond set of calculated points, respectively, about a set of auxiliarycenters different than the image detector center. With reference to FIG.13A, processor 108 determines distorted calculated points 334A and 334B,by applying the image distortion models f_(d) ^(X)(X,Y) and f_(d)^(Y)(X,Y), as described herein above, to calculated points 330A (FIG.12A) and 330B, respectively, while setting x₀ and y₀ to an auxiliarycenter 336 (FIG. 9) of image detector 314, other than center 324. Thecoordinates of distorted calculated points 334A and 334B represents thecoordinates of calculated points 330A (FIG. 12A) and 330B, respectively,which a distorting optical device would produce. Processor 108determines other distorted calculated points by applying the imagedistortion models, to calculated points 330A (FIG. 12A) and 330B, whilesetting x₀ and y₀ to another auxiliary center 338 (FIG. 9) of imagedetector 314, other than center 324.

In the same manner, processor 108 determines additional distortedcalculated points, while setting x₀ and y₀ to auxiliary centers 340(FIG. 9) and 342 of image detector 314, other than center 324. Withreference to FIG. 13B, processor 108 determines distorted calculatedpoints 344A and 344B, by applying the image distortion models f_(d)^(X)(X,Y) and f_(d) ^(Y)(X,Y), to calculated points 332A (FIG. 12B) and332B, respectively, while setting x₀ and y₀ to auxiliary center 336(FIG. 9) of image detector 314, other than center 324. Processor 108determines additional distorted calculated points according tocalculated points 332A (FIG. 12B) and 332B, while each time setting x₀and y₀ to each of the auxiliary centers 336, 338, 340, and 342.

In procedure 250, a first set of distances between the respective pointsin the first distorted image and in the first set of distortedcalculated points are determined. With reference to FIG. 14A, processor108 determines a distance d_(R1) between the coordinates of point 320A(also illustrated in FIG. 10A) and the coordinates of distortedcalculated point 334A (also illustrated in FIG. 13A). Processor 108further determines a distance d_(R2) between the coordinates of point320B and the coordinates of distorted calculated point 334B. Processor108 determines a first representative distance D_(R) according to theset of distances d_(R1) and d_(R2), for example, by determining a sum ofthe absolute values of d_(R1) and d_(R2), a sum of the squares of d_(R1)and d_(R2), a median value of d_(R1) and d_(R2) (i.e., a sum of theabsolute values of d_(R1) and d_(R2)), and the like.

With reference to FIG. 14B, processor 108 determines a distance d_(L1)between the coordinates of point 322A (also illustrated in FIG. 10B) andthe coordinates of distorted calculated point 344A (also illustrated inFIG. 13B—procedure 252). Processor 108 further determines a distanced_(L2) between the coordinates of point 322B and the coordinates ofdistorted calculated point 344B (procedure 252). Processor 108determines a second representative distance D_(L) according to the setof distances d_(L1) and d_(L2), for example, by determining a sum of theabsolute values of d_(L1) and d_(L2), a sum of the squares of d_(L1) andd_(L2), a median value of d_(L1) and d_(L2), and the like.

In procedure 254, one of the auxiliary centers is selected as the centerof distortion of the first distorted image and of the second distortedimage, which corresponds to the minimum characteristic value respectiveof the first set of distances and the second set of distances. Processor108 determines a characteristic value for example, according to a sum ofthe first representative distance D_(R) and the second representativedistance D_(L), a sum of the squares of D_(R) and D_(L), a median valueof D_(R) and D_(L), a median value of d_(R1), d_(R2), d_(L1) and d_(L2),and the like. Processor 108 selects the auxiliary center as the centerof distortion of first distorted image 316 (FIG. 10A) and seconddistorted image 318 (FIG. 10B), which corresponds to a characteristicvalue which is the smallest among all the rest.

For example, if processor 108 determines that while setting x₀ and y₀ ofthe image distortion models f_(d) ^(X)(X,Y) and f_(d) ^(Y)(X,Y) toauxiliary center 340 (FIG. 9), the least characteristic value isobtained, then processor 108 determines auxiliary center 340 as thecenter of distortion for distorted image 316 (FIG. 10A) and distortedimage 318 (FIG. 10B).

It is noted that the method for determining the center of distortiondescribed herein above according to FIG. 6, applies to a right image anda left image of an object detected by a single image detector, as wellas to those detected by two separate image detectors. In case of twoimage detectors, a center of distortion is determined with respect toeach image detector, while taking into account a first minimumcharacteristic value respective of the first set of distances and asecond minimum characteristic value respective of the second set ofdistances.

A user can experience a stereoscopic perception of an object, due to thefact that the pupils are separated by a certain distance (i.e., IPD).Each eye detects an image of the object from slightly different viewpoints, and the brain produces a stereoscopic sensation due to thisdifference (i.e., a shift between the two images). When two differentlypolarized images of a scene are displayed on a display with a certainshift there between, and a user views the display with an appropriatedpair of polarizers, she obtains a stereoscopic perception of the scene.

Applicant has found that the degree by which the user experiences astereoscopic perception of the scene, is directly proportional to theamount of this shift. Different subjects obtain stereoscopic perceptionof the same scene, differently. Some are able to detect the differencebetween the disparity of an image viewed with naked eye, and thedisparity of the pair of images displayed by a display (i.e., disparityshift) at a substantially high resolution, while others are verysensitive to this disparity shift (e.g., due to aberrations in theeyes), and very quickly experience fatigue and vision associatedcomplexions, such as headache. According to another aspect of thedisclosed technique, there is provided a method to reduce these visionassociated complexions, and produce a more comfortable stereoscopicperception for the user.

Reference is now made to FIG. 15, which is a schematic illustration of amethod for providing a stereoscopic perception of a scene for a user,such that the vision associated complexions experienced by the user areminimized, operative in accordance with another embodiment of thedisclosed technique. In procedure 370, a shift between a pair ofstereoscopic images to be displayed to a user, is determined, the shiftbeing associated with stereoscopic viewing characteristics of the user.In a cohort study, a pair of stereoscopic images with different shiftsare presented to different subjects having different IPD's, and theshift which is suitable for each IPD is determined.

In procedure 372, another pair of stereoscopic images which are shiftedrelative to one another, is received. A processor receives twostereoscopic images which are shifted relative to one another by acertain amount.

In procedure 374, the other pair of images are shifted by the determinedamount. The processor shifts the two images received in procedure 372,by the shift determined in procedure 370, and in procedure 376, adisplay displays the images which were shifted in procedure 374.Alternatively, a user interface, such as a knob, and the like, can beprovided for the user to adjust the amount of the shift in the display.It is noted that shifting the pair of images relative to one another,varies the depth of the image relative to the surface of the display, asperceived by the user.

According to another aspect of the disclosed technique, the localdisparity between the right view images and left view images of astereoscopic image pair, at selected depths, is varied, by moving eachpair of the right view image and the left view image at that depth,relative to one another. For this purpose, a three-dimensionalreconstructed image is produced according to the stereoscopic imagepair, a plurality of depth planes in this three-dimensionalreconstructed image are determined, the depth of each pixel in thethree-dimensional reconstructed image is determined, and each pixel isassociated with a right view image and a left view image at a depthnearest to the depth of that pixel. Moving each of the right view imageand the left view image at each depth, relative to one another, changesthe disparity at that depth. The values of the disparity variations atdifferent levels, can be adjusted specifically according to the visualcharacteristics of a given observer, in order to provide a comfortablestereoscopic viewing experience of the image displayed by a display, andreduce stress and eye fatigue.

Reference is now made to FIGS. 16A, 16B, 17A, and 17B. FIG. 16A is aschematic illustration of a first set of depth planes of a first viewimage of a stereoscopic image pair of an object observed by a first eyeof an observer. FIG. 16B is a schematic illustration of a second set ofdepth planes of a second view image of the stereoscopic image pair,observed by a second eye of the observer. FIG. 17A is a schematicillustration of the depth planes of the first set of depth planes ofFIG. 16A, displaced in a first direction relative a first line of sightof the first eye, constructed and operative according to a furtherembodiment of the disclosed technique. FIG. 17B is a schematicillustration of the depth planes of the second set of depth planes ofFIG. 16B, displaced in a second direction, relative to a second line ofsight of the second eye, constructed and operative according to anotherembodiment of the disclosed technique.

Initially, a stereoscopic image pair (i.e., a right view image—not shownand a left view image—not shown) of an object (not shown), is acquiredby an image detector (not shown). A processor (not shown) produces athree-dimensional reconstruction of the volume represented by thestereoscopic image pair, and determines a depth value for each of thepixels in the right view image and in the left view image, according tothe three-dimensional reconstruction.

With reference to FIG. 16A, the processor determines a plurality ofdepth planes 400 ₁, 400 ₂, 400 ₃, 400 ₄, 400 ₅, 400 ₆, and 400 _(N),substantially perpendicular to a left line of sight (LOS) 402 of a lefteye 404 of an observer (not shown). A center (not shown) of each ofdepth planes 400 ₁, 400 ₂, 400 ₃, 400 ₄, 400 ₅, 400 ₆, and 400 _(N), islocated on left LOS 402 of a left eye 404 of the observer. Similarly,the right view image can be regarded as a plurality of depth planes 406₁ (FIG. 16B), 406 ₂, 406 ₃, 406 ₄, 406 ₅, 406 ₆, and 406 _(N). A center(not shown) of each of depth planes 406 ₁, 406 ₂, 406 ₃, 406 ₄, 406 ₅,406 ₆, and 406 _(N), is located on a right LOS 408 of a right eye 410 ofthe observer. Depth planes 400 ₁ and 406 ₁ are located at a depth D₁.Depth planes 400 ₂ and 406 ₂ are located at a depth D₂. Depth planes 400₃ and 406 ₃ are located at a depth D₃. Depth planes 400 ₄ and 406 ₄ arelocated at a depth D₄. Depth planes 400 ₅ and 406 ₅ are located at adepth D₅. Depth planes 400 ₆ and 406 ₆ are located at a depth D₆. Depthplanes 400 _(N) and 406 _(N) are located at a depth D_(N).

The processor determines a plurality of depth plane pairs among thedepth planes from the right view image and the left view image. Forexample, the processor determines a first depth plane pair, byassociating depth plane 400 ₁ with depth plane 406 ₁. The processorassociates each pixel of the stereoscopic image pair, with a depth planenearest to that pixel. For example, if a pixel (not shown) is located ata depth D_(4,5) between depths D₄ and D₅, and closer to depth D₅, thenthe processor associates that pixel with depth plane 400 ₅. Theprocessor associates that pixel also with depth plane 406 ₅.

With reference to FIG. 17A, the processor moves depth plane 400 ₁ in afirst direction designated by an arrow 412, relative to left LOS 402,such that a center 414 ₁ of depth plane 400 ₁ is displaced by a distanceL₁ from left LOS 402. Similarly, the processor moves each of the depthplanes 400 ₂, 400 ₃, 400 ₄, 400 ₅, 400 ₆, and 400 _(N), in direction412, relative to left LOS 402, in a uniform manner. For example, theprocessor moves depth plane 400 ₂ in direction 412 by a distance L₂, anddepth plane 400 _(N) in direction 412 by a distance L_(N).

The processor can displace depth planes 400 ₁, 400 ₂, 400 ₃, 400 ₄, 400₅, 400 ₆, and 400 _(N), in a certain manner (e.g., according to apredetermined function, a lookup table, a discrete criterion or userinstructions). In the example set forth in FIG. 16B, the processordisplaces depth planes 400 ₁, 400 ₂, 400 ₃, 400 ₄, 400 ₅, 400 ₆, and 400_(N) according to a linearly decreasing function, such that afterperforming the displacement to depth planes 400 ₁, 400 ₂, 400 ₃, 400 ₄,400 ₅, 400 ₆, and 400 _(N), the centers thereof trace a substantiallystraight line 416.

With reference to FIG. 17B, the processor moves each of depth planes 406₁, 406 ₂, 406 ₃, 406 ₄, 406 ₅, 406 ₆, and 406 _(N), in a directiondesignated by an arrow 418, relative to right LOS 408, such that eachcenter (not shown) of the respective depth plane, is displaced accordingto a predetermined discrete criterion. For example, the processor movesdepth plane 406 ₁ by a distance L₃ from right LOS 408, in direction 418,depth plane 406 ₂ by a distance L₄ from right LOS 408, in direction 418,and depth plane 406 _(N) by a distance L_(M) from right LOS 408, indirection 418. In the example set forth in FIG. 17B, the predeterminedfunction is a parabolic increasing function (i.e., a non-linearfunction). The centers of depth planes 406 ₁, 406 ₂, 406 ₃, 406 ₄, 406₅, 406 ₆, and 406 _(N), trace a parabola 420. In this manner, theprocessor moves each pair of the right view image and the left viewimage, at each depth, relative to one another, thereby changing thedisparity at that depth (i.e., local disparity).

For example, the local disparity of the stereoscopic image pair at depthD₁ is changed by a distance equal to the difference between L₁ and L₃.The local disparity of the stereoscopic image pair at depth D₂ ischanged by a distance equal to the difference between L₂ and L₄. Thelocal disparity of the stereoscopic image pair at depth D_(N) is changedby a distance equal to the difference between L_(N) and L_(M).

Alternatively, the direction of arrow 412 can be the same as that ofarrow 418. Further alternatively, the predetermined function employedfor moving the depth planes of the right view image, can be the same asthat employed for moving the depth planes of the left view image. In theexample set forth in FIGS. 16A and 16B, the depth planes aresubstantially flat. It is noted that alternatively, certain ones of thedepth planes can be curved.

The displacement of one depth plane in a direction perpendicular to anLOS, relative to the displacement of another depth plane of the samedepth plane pair, at the same depth, determines the local disparity ofthe stereoscopic image pair. By varying the disparity of thestereoscopic image pair in this manner, it is possible to display thestereoscopic image pair for a given observer, such that the observerexperiences minimal stress and fatigue, while viewing the stereoscopicimage pair, through a viewing device (e.g., stereoscopic glasses).

Reference is now made to FIG. 18, which is a schematic illustration of amethod for varying the local disparity between each of a plurality ofdepth plane pairs, wherein each depth plane defines the depth of a givenset of pixels in a given image of a stereoscopic image pair of anobject, the method being operative according to a further embodiment ofthe disclosed technique. In procedure 440, a stereoscopic image pairrespective of an object, is acquired by an image detector. In procedure442, a depth value for each of the pixels in each image of thestereoscopic image pair is determined, from a three-dimensionalreconstruction of the volume represented by the stereoscopic image pair.The processor produces a three-dimensional reconstruction according tothe volume represented by the stereoscopic image pair, and determinesthe depth of every set of pixels in the stereoscopic image pair,relative to the image detector.

In procedure 444, a plurality of depth planes is determined for eachimage, each depth plane being perpendicular to an LOS respective of arespective one of the eyes of an observer, at a different depth. Withreference to FIG. 16A, the processor determines depth planes 400 ₁, 400₂, 400 ₃, 400 ₄, 400 ₅, 400 ₆, and 400 _(N), for the left view image ofthe stereoscopic image pair of the object, wherein each depth plane islocated at a different depth. Depth planes 400 ₁, 400 ₂, 400 ₃, 400 ₄,400 ₅, 400 ₆, and 400 _(N), are substantially perpendicular to left LOS402 of left eye 404. Similarly, the processor determines depth planes406 ₁, 406 ₂, 406 ₃, 406 ₄, 406 ₅, 406 ₆, and 406 _(N), for the rightview image of the stereoscopic image pair of the object. Depth planes406 ₁, 406 ₂, 406 ₃, 406 ₄, 406 ₅, 406 ₆, and 406 _(N), aresubstantially perpendicular to right LOS 408 of right eye 410. Forexample, the processor determines that depth planes 400 ₁ and 406₁ arelocated at depth D₁, depth planes 400 ₂ and 406 ₂ are located at depthD₂, and that depth planes 400 _(N) and 406 _(N) are located at depthD_(N).

In procedure 446, each depth plane from a first image of thestereoscopic image pair, is associated with the corresponding depthplane from a second image of the stereoscopic image pair, at the samedepth, thereby determining a plurality of depth plane pairs. Withreference to FIGS. 17A and 17B, the processor associates depth plane 400₁ with depth plane 406 ₁, 400 ₂ with 406 ₂, 400 ₃ with 406 ₃, 400 ₄ with406 ₄, 400 ₅ with 406 ₅, 400 ₆ with 406 ₆, and 400 _(N) with 406 _(N),thereby determining a plurality of depth plane pairs.

In procedure 448, each pixel of the stereoscopic image pair isassociated with a respective depth plane pair, according to the depthvalue of the pixel and the depth of the depth plane pair. In procedure450, the local disparity between each of the depth plane pairs isvaried. With reference to FIGS. 17A and 17B the processor imparts forexample, a change in the local disparity at depth D₁, equal to thedifference between L₁ and L₃, a change in the local disparity at depthD₂, equal to the difference between L₂ and L₄, and a change in the localdisparity at depth D_(N), equal to the difference between L_(N) andL_(M).

It will be appreciated by persons skilled in the art that the disclosedtechnique is not limited to what has been particularly shown anddescribed hereinabove. Rather the scope of the disclosed technique isdefined only by the claims, which follow.

1. Image distortion correction model for correcting an image distortionin a first distorted image and in a second distorted image of astereoscopic image pair of an object being detected by an opticaldevice, the image distortion correction model being defined by,f_(c)^(X)(X, Y) = a₀₀ + a₀₁x^(′) + a₂₀x^(′2) + a₃₀x^(′3) + a₅₀x^(′5) + a₀₂y^(′2) + a₁₂x^(′)y^(′2) + a₂₂x^(′2)y^(′2) + a₃₂x^(′3)y^(′2) + a₅₂x^(′5)y^(′2)in a horizontal direction, and by,f_(c)^(Y)(X, Y) = c₀₁y^(′) + c₁₁x^(′)y^(′) + c₂₁x^(′2)y^(′) + c₃₀y^(′3) + c₁₃x^(′)y^(′3) + c₂₃x^(′2)y^(′3) + c₀₅y^(′5) + c₁₅x^(′)y^(′5) + c₂₅x^(′2)y^(′5)in a vertical direction, wherein x′ is defined by,$x^{\prime} = \frac{\left( {x - x_{0}} \right)}{x_{\max}}$ and y′ isdefined by, $y^{\prime} = \frac{\left( {y - y_{0}} \right)}{y_{\max}}$wherein x and y are the indices of a current pixel in each of said firstdistorted image and said second distorted image, wherein x₀ and y₀define a center of distortion of said first distorted image and of saidsecond distorted image, wherein x_(max) is a distance along saidhorizontal direction, between a center of a substantially rectangularundistorted calculated image and a side of said substantiallyrectangular undistorted calculated image, said substantially rectangularundistorted calculated image being respective of said optical device,wherein y_(max) is another distance along said vertical direction,between said center and another side of said substantially rectangularundistorted calculated image, wherein parameters a₀₀, a₀₁, a₂₀, a₃₀,a₅₀, a₀₂, a₁₂, a₂₂, a₃₂, a₅₂, c₀₁, c₁₁, c₂₁, c₃₀, c₁₃, c₂₃, c₀₅, c₁₅ andc₂₅ are a set of coefficients which are determined by solving a set ofsimultaneous Equations for a set of points, each point having theindices x and y, said points being respective of a target being detectedby said optical device, the coordinates of said points being known in aglobal coordinate system, wherein f_(c) ^(X)(X,Y) designates ahorizontal distortion of a point among said points, said horizontaldistortion being along said horizontal direction, wherein f_(c)^(Y)(X,Y) designates a vertical distortion of said point along saidvertical direction, and wherein x₀ and y₀ are set to an image center ofsaid substantially rectangular undistorted calculated image.
 2. Methodfor determining a disparity value of a disparity of a point on an objectbeing detected by at least one image detector, according to astereoscopic color image pair of the object, the point being representedby a plurality of pixels in each image of the stereoscopic color imagepair, the method comprising the procedures of: producing a first set ofdistortion-corrected color images respective of each of a plurality ofcolors of said at least one image detector, by applying an imagedistortion correction model to a first distorted image among saidstereoscopic color image pair; producing a second set ofdistortion-corrected color images respective of said colors, by applyingsaid image distortion correction model to a second distorted image amongsaid stereoscopic color image pair; applying a first filter to each ofsaid distortion-corrected color images in said first set and in saidsecond set; producing a set of modified images by determining at leastone interpolated pixel between every two adjacent actual pixels in eachrow of each of said filtered distortion-corrected color images of saidsecond set of distortion-corrected color images; determining a distancerange between said object and said at least one image detector;determining a disparity range respective of said stereoscopic colorimage pair, according to said distance range; defining a window of apredetermined size around an actual pixel in each of saiddistortion-corrected color images of said first set ofdistortion-corrected color images; defining a plurality of windowsaround a plurality of central pixels in each of said modified images,the size of each of said windows being the same as said predeterminedsize, said central pixels having the same row indices respective of therow of said actual pixel, and a plurality of column indices within saiddisparity range from the column index of said actual pixel; determininga linear function of an absolute value of vectorial gradients, ofanother absolute value of vectorial gradient differences, and of theabsolute value of the difference between color image intensities,respective of said window and of respective ones of each of saidwindows; selecting a minimum value among said linear functions;selecting a central pixel among said central pixels, as a pixel whichmatches said actual pixel, said central pixel corresponding to aselected window among said windows, said selected window correspondingto said selected minimum value; and determining said disparity valueaccording to a difference between the coordinates of said actual pixeland of said selected central pixel.
 3. The method according to claim 2,wherein each of said first filter and said second filter is a low-passfilter.
 4. The method according to claim 2, further comprising theprocedures of: constructing a disparity map respective of a plurality ofpoints of said object, according to a plurality of disparity valuesrespective of said points, and eliminating said disparity value fromsaid disparity map, according to a predetermined criterion.
 5. Themethod according to claim 4, wherein said criterion is selected from thelist consisting of: said disparity value being larger than a certainmultiple of a standard deviation of the average disparity of apredetermined number of pixels, in the neighborhood of a pixel in animage detected by an image detector; a similarity level parameterrespective of said procedure of identifying said matching pixel, islarger than a certain multiple of a standard deviation of the averagesimilarity level parameter respective of said predetermined number ofsaid pixels; and a cross validation of a surface normal associated withsaid pixel being unacceptable.
 6. The method according to claim 2,wherein another disparity value is determined, by performing saidprocedure of selecting said central pixel, while said procedure ofdefining said window is performed with respect to each of said modifiedimages, and said procedure of defining said windows is performed withrespect to said first set of distortion-corrected color images, whereina calculated disparity value is calculated for said point, when a sum ofsaid disparity value and said other disparity value is within apredetermined range, said calculated disparity value being equal to anaverage of absolute values of said disparity value and said otherdisparity value, times the sign of said disparity value, wherein saiddisparity value is selected for said point, when said sum is equal tozero, wherein a disparity map is constructed respective of said points,according to said disparity value and said calculated disparity value,and wherein said disparity value is eliminated from said disparity map,when said sum is outside said predetermined range.
 7. The methodaccording to claim 2, further comprising a procedure of determining thevalidity of said method by, producing an empirical disparity mapaccording to a plurality of disparity values, producing a controlleddisparity map by applying a known disparity function to said firstdistorted image, and comparing said empirical disparity map with saidcontrolled disparity map.
 8. The method according to claim 7, whereinsaid known disparity function is a parabolic function.
 9. Method fordetermining a center of distortion of a first distorted image and asecond distorted image of a target, the method comprising the proceduresof: determining two-dimensional coordinates of a plurality of knownpoints of said target, in said first distorted image and in said seconddistorted image; correcting two-dimensional locations of saidtwo-dimensional coordinates, in said first distorted image and in saidsecond distorted image, according to an image distortion correctionmodel, whose origin is selected as an image detector center; determininga first transformation model and a second transformation model,according to respective ones of said corrected two-dimensionallocations, and according to three-dimensional coordinates of said knownpoints; determining a first set of calculated points and a second set ofcalculated points, by applying said first transformation model and saidsecond transformation model, respectively, to said three-dimensionalcoordinates; determining a first set of distorted calculated points anda second set of distorted calculated points, by applying an imagedistortion model to said first set of calculated points and to saidsecond set of calculated points, respectively, about a set of auxiliarycenters different than said image detector center; determining a firstset of distances between respective points in said first distorted imageand said first set of distorted calculated points; determining a secondset of distances between respective points in said second distortedimage and said second set of distorted calculated points; and selectingone of said auxiliary centers as said center of distortion, saidauxiliary center corresponding to a minimum characteristic valuerespective of said first set of distances and said second set ofdistances.
 10. The method according to claim 9, wherein each of saidfirst transformation model and said second transformation model isrepresented by a matrix which is equal to a product of an intrinsicparameter matrix and an extrinsic parameter matrix, said intrinsicparameter matrix being respective of a plurality of intrinsic parametersrespective of at least one image detector detecting first distortedimage and said second distorted image, and said extrinsic parametermatrix being respective of a plurality of extrinsic parametersrespective of said at least one image detector.
 11. The method accordingto claim 9, further comprising the procedures of: determining a firstrepresentative distance according to said first set of distances; anddetermining a second representative distance according to said secondset of distances.
 12. The method according to claim 11, wherein saidprocedure of determining said first representative distance is performedby performing a procedure selected from the list consisting of:determining a sum of absolute values of said first set of distances;determining a sum of squares of said first set of distances; anddetermining a median value of said first set of distances, and whereinsaid procedure of determining said second representative distance isperformed by performing a procedure selected from the list consistingof: determining a sum of absolute values of said second set; determininga sum of squares of said second set of distances; and determining amedian value of said second set of distances.
 13. The method accordingto claim 11, wherein said procedure of determining said minimumcharacteristic value is determined by performing a procedure selectedfrom the list consisting of: determining a sum of said firstrepresentative distance and said second representative distance;determining a sum of squares of said first representative distance andsaid second representative distance; determining a median value of saidfirst representative distance and said second representative distance;and determining a median value of first set of distances and said secondset of distances.
 14. Method for determining a disparity value of adisparity of each of a plurality of points on an object, the methodcomprising the procedures of: detecting by a single image detector, afirst image of said object through a first aperture, and a second imageof said object through a second aperture; correcting the distortion ofsaid first image, and the distortion of said second image, by applyingan image distortion correction model to said first image and to saidsecond image, respectively, thereby producing a firstdistortion-corrected image and a second distortion-corrected image,respectively; for each of a plurality of pixels in at least a portion ofsaid first distortion-corrected image representing a selected one ofsaid points, identifying a matching pixel in said seconddistortion-corrected image; and determining said disparity valueaccording to coordinates of each of said pixels and the respective saidmatching pixel.
 15. The method according to claim 14, further comprisinga procedure of determining a confidence percent level respective of saidprocedure of identifying said matching pixel.
 16. The method accordingto claim 14, further comprising the procedures of: reconstructing animage according to said first image and said second image; marking apoint among said points, on said reconstructed image by a user, via auser interface; determining a distance value of a distance from saidpoint to said single image detector, according to said disparity value;and displaying said distance value on a display.
 17. The methodaccording to claim 16, further comprising the procedures of: determininga confidence percent level respective of said distance value; anddisplaying said confidence percent level on said display.
 18. The methodaccording to claim 14, further comprising a procedure of determining ageometric parameter respective of said object, according to saiddisparity value.
 19. The method according to claim 18, wherein saidgeometric parameter is selected from the list consisting of: volume;mass; surface area; and the amount by which said object protrudes from abackground.
 20. The method according to claim 14, wherein said procedureof identifying said matching pixel is performed by a method selectedfrom the list consisting of: cross correlation; vectorial gradient;cross entropy; squares of differences; absolute value of differences;histogram; and Kalmagorov distance method.
 21. The method according toclaim 14, wherein said procedure of identifying said matching pixel isperformed according to a parameter of said pixels, said parameter beingselected from the list consisting of: intensity; directionaldifferential of an intensity of each of said pixels along a horizontalaxis of said single image detector; and directional differential of saidintensity along a vertical axis of said single image detector.
 22. Themethod according to claim 14, further comprising the procedures of:constructing a disparity map respective of said points, according tosaid disparity values, and eliminating said disparity value from saiddisparity map, according to a predetermined criterion.
 23. The methodaccording to claim 22, wherein said criterion is selected from the listconsisting of: said disparity value being larger than a certain multipleof a standard deviation of the average disparity of a predeterminednumber of pixels, in the neighborhood of a pixel in an image detected bysaid single image detector; a similarity level parameter respective ofsaid procedure of identifying said matching pixel, is larger than acertain multiple of a standard deviation of the average similarity levelparameter respective of said predetermined number of said pixels; and across validation of a surface normal associated with said pixel beingunacceptable.
 24. The method according to claim 22, further comprising aprocedure of determining an interpolated disparity value in place ofsaid eliminated disparity value, by employing an interpolation procedureto interpolate between disparity values adjacent to said eliminateddisparity value.
 25. The method according to claim 24, wherein saidinterpolation procedure is a radial basis function.
 26. The methodaccording to claim 24, further comprising a procedure of determining thevalidity of said interpolation procedure by, producing an empiricaldisparity map according to said disparity values, producing a controlleddisparity map by applying a known disparity function to said firstimage, and comparing said empirical disparity map with said controlleddisparity map.
 27. The method according to claim 26, wherein said knowndisparity function is a parabolic function.
 28. The method according toclaim 14, wherein another disparity value is determined, by performingsaid procedure of identifying said matching pixel, while said firstdistortion-corrected image is replaced with said seconddistortion-corrected image, wherein a calculated disparity value iscalculated for said point, when a sum of said disparity value and saidother disparity value is within a predetermined range, said calculateddisparity value being equal to an average of absolute values of saiddisparity value and said other disparity value, times the sign of saiddisparity value, wherein said disparity value is selected for saidpoint, when said sum is equal to zero, wherein a disparity map isconstructed respective of said points, according to said disparity valueand said calculated disparity value, and wherein said disparity value iseliminated from said disparity map, when said sum is outside saidpredetermined range.
 29. Method for determining disparity value of adisparity of a point on an object being detected by at least one imagedetector, according to a stereoscopic color image pair of the object,the point being represented by a plurality of pixels in each image ofthe stereoscopic color image pair, the method comprising the proceduresof: producing a first set of distortion-corrected color imagesrespective of each of a plurality of colors of said at least one imagedetector, by applying an image distortion correction model to a firstdistorted image among said stereoscopic color image pair; producing asecond set of distortion-corrected color images respective of saidcolors, by applying said image distortion correction model to a seconddistorted image among said stereoscopic color image pair; producing aset of modified images by determining at least one interpolated pixelbetween every two adjacent actual pixels in each row of each of saiddistortion-corrected color images of said second set ofdistortion-corrected color images; determining a distance range betweensaid object and said at least one image detector; determining adisparity range respective of said stereoscopic color image pair,according to said distance range; defining a window of a predeterminedsize around an actual pixel in each of said distortion-corrected colorimages of said first set of distortion-corrected color images; defininga plurality of windows around a plurality of central pixels in each ofsaid modified images, the size of each of said windows being the same assaid predetermined size, said central pixels having the same row indicesrespective of the row of said actual pixel, and a plurality of columnindices within said disparity range from the column index of said actualpixel; determining a plurality of color intensity distributiondifferences between the color intensity distribution of said window andeach of said windows; selecting a minimum color intensity distributiondifference among said color intensity distribution differences;selecting a central pixel among said central pixels, as a pixel whichmatches said actual pixel, said central pixel corresponding to aselected window among said windows, said selected window correspondingto said minimum color intensity distribution difference; and determiningsaid disparity value according to a difference between the coordinatesof said actual pixel and of said selected central pixel.
 30. The methodaccording to claim 29, wherein said procedure of producing said set ofmodified images is performed by interpolating between every two of saidadjacent pixels.
 31. The method according to claim 29, wherein saidprocedure of defining said windows is performed around respective onesof said central pixels, selected as said at least one interpolatedpixel.
 32. The method according to claim 29, wherein said procedure ofselecting said central pixel is performed by: determining a similaritylevel parameter between said window associated with each of said firstset of distortion-corrected color images, and each of said windows insaid modified images; and selecting said similarity level parameter asthe one having the lowest value among said similarity level parameters.33. The method according to claim 29, wherein each of said windows insaid modified images includes selected ones of said at least oneinterpolated pixels, when a central pixel of said central pixels is aninterpolated pixel, and wherein said windows in said modified imagesincludes said actual pixels, when said central pixel is not aninterpolated pixel.
 34. The method according to claim 29, furthercomprising the procedures of: determining a confidence percent levelrespective of said procedure of selecting said central pixel; andreducing said disparity range when said confidence percent level isgreater than a predetermined threshold.
 35. The method according toclaim 29, further comprising a procedure of determining the validity ofsaid method by, producing an empirical disparity map according to aplurality of disparity values, producing a controlled disparity map byapplying a known disparity function to said first distorted image, andcomparing said empirical disparity map with said controlled disparitymap.
 36. The method according to claim 35, wherein said known disparityfunction is a parabolic function.
 37. Method for varying a localdisparity between each depth plane pair of each of a plurality of depthplane pairs, each depth plane of the depth plane pairs defining thedepth of a given set of pixels in a first image and a second image of astereoscopic image pair of an object, relative to an image detectordetecting the stereoscopic image pair, the method comprising theprocedures of: determining a pixel depth for each of said pixels, insaid first image and in said second image, from a three-dimensionalreconstruction of a volume represented by said stereoscopic image pair;determining a plurality of depth planes at a plurality of differentplane depths, for said first image and said second image, each of saiddepth planes being substantially perpendicular to a line of sightrespective of a respective one of the eyes of an observer; associatingeach of said depth planes from said first image, with a correspondingdepth plane from said second image, at the same plane depth, therebydetermining a plurality of depth plane pairs; associating each of saidpixels with a respective one of said depth plane pairs, according to arespective one of said pixel depths, and according to a respective oneof said plane depths; and varying said local disparity by moving everypair of said depth plane pairs, relative to one another, in a directionsubstantially perpendicular to said line of sight.
 38. The methodaccording to claim 37, further comprising a preliminary procedure ofacquiring said stereoscopic image pair.
 39. The method according toclaim 37, wherein said procedure of varying is performed by moving afirst set of said depth planes associated with said first image, and asecond set of said depth planes associated with said second image, in auniform manner.